Make pandaState and safetyMode a list (#22454)

* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
old-commit-hash: 91987f38d4

cereal

@@ -1 +1 @@
-Subproject commit 517fd56398c0d3ae4d0a142849b81e2f025d8572
+Subproject commit 5168470661703a64f99bbd9743f2236ebc2c24ab

selfdrive/boardd/boardd.cc

@@ -92,13 +92,22 @@ bool safety_setter_thread(Panda *panda) {
   AlignedBuffer aligned_buf;
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
-  cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
+  cereal::CarParams::SafetyModel safety_model;
+  int safety_param;
+
+  auto safety_configs = car_params.getSafetyConfigs();
+  if (safety_configs.size() > 0) {
+    safety_model = safety_configs[0].getSafetyModel();
+    safety_param = safety_configs[0].getSafetyParam();
+  } else {
+    // If no safety mode is set, default to silent
+    safety_model = cereal::CarParams::SafetyModel::SILENT;
+    safety_param = 0;
+  }
 
   panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
 
-  auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
-
   panda->set_safety_model(safety_model, safety_param);
   return true;
 }
@@ -242,9 +251,9 @@ void send_empty_peripheral_state(PubMaster *pm) {
 
 void send_empty_panda_state(PubMaster *pm) {
   MessageBuilder msg;
-  auto pandaState  = msg.initEvent().initPandaState();
+  auto pandaStates = msg.initEvent().initPandaStates(1);
-  pandaState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
+  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("pandaState", msg);
+  pm->send("pandaStates", msg);
 }
 
 bool send_panda_state(PubMaster *pm, Panda *panda, bool spoofing_started) {
@@ -278,27 +287,28 @@ bool send_panda_state(PubMaster *pm, Panda *panda, bool spoofing_started) {
   auto evt = msg.initEvent();
   evt.setValid(panda->comms_healthy);
 
-  auto ps = evt.initPandaState();
+  // TODO: this has to be adapted to merge in multipanda support
-  ps.setUptime(pandaState.uptime);
+  auto ps = evt.initPandaStates(1);
-  ps.setIgnitionLine(pandaState.ignition_line);
+  ps[0].setUptime(pandaState.uptime);
-  ps.setIgnitionCan(pandaState.ignition_can);
+  ps[0].setIgnitionLine(pandaState.ignition_line);
-  ps.setControlsAllowed(pandaState.controls_allowed);
+  ps[0].setIgnitionCan(pandaState.ignition_can);
-  ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
+  ps[0].setControlsAllowed(pandaState.controls_allowed);
-  ps.setCanRxErrs(pandaState.can_rx_errs);
+  ps[0].setGasInterceptorDetected(pandaState.gas_interceptor_detected);
-  ps.setCanSendErrs(pandaState.can_send_errs);
+  ps[0].setCanRxErrs(pandaState.can_rx_errs);
-  ps.setCanFwdErrs(pandaState.can_fwd_errs);
+  ps[0].setCanSendErrs(pandaState.can_send_errs);
-  ps.setGmlanSendErrs(pandaState.gmlan_send_errs);
+  ps[0].setCanFwdErrs(pandaState.can_fwd_errs);
-  ps.setPandaType(panda->hw_type);
+  ps[0].setGmlanSendErrs(pandaState.gmlan_send_errs);
-  ps.setSafetyModel(cereal::CarParams::SafetyModel(pandaState.safety_model));
+  ps[0].setPandaType(panda->hw_type);
-  ps.setSafetyParam(pandaState.safety_param);
+  ps[0].setSafetyModel(cereal::CarParams::SafetyModel(pandaState.safety_model));
-  ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
+  ps[0].setSafetyParam(pandaState.safety_param);
-  ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
+  ps[0].setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
-  ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
+  ps[0].setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
-  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
+  ps[0].setHeartbeatLost((bool)(pandaState.heartbeat_lost));
+  ps[0].setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
 
   // Convert faults bitset to capnp list
   std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);
-  auto faults = ps.initFaults(fault_bits.count());
+  auto faults = ps[0].initFaults(fault_bits.count());
 
   size_t i = 0;
   for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
@@ -308,7 +318,7 @@ bool send_panda_state(PubMaster *pm, Panda *panda, bool spoofing_started) {
       i++;
     }
   }
-  pm->send("pandaState", msg);
+  pm->send("pandaStates", msg);
 
   return ignition;
 }
@@ -558,7 +568,7 @@ int main() {
   LOG("set affinity returns %d", err);
 
   LOGW("attempting to connect");
-  PubMaster pm({"pandaState", "peripheralState"});
+  PubMaster pm({"pandaStates", "peripheralState"});
 
   while (!do_exit) {
     Panda *panda = usb_connect();

selfdrive/boardd/tests/boardd_old.py

@@ -156,7 +156,7 @@ def boardd_loop(rate=100):
 
   # *** publishes can and health
   logcan = messaging.pub_sock('can')
-  health_sock = messaging.pub_sock('pandaState')
+  health_sock = messaging.pub_sock('pandaStates')
 
   # *** subscribes to can send
   sendcan = messaging.sub_sock('sendcan')
@@ -168,14 +168,14 @@ def boardd_loop(rate=100):
     # health packet @ 2hz
     if (rk.frame % (rate // 2)) == 0:
       health = can_health()
-      msg = messaging.new_message('pandaState')
+      msg = messaging.new_message('pandaStates', 1)
 
       # store the health to be logged
-      msg.pandaState.voltage = health['voltage']
+      msg.pandaState[0].voltage = health['voltage']
-      msg.pandaState.current = health['current']
+      msg.pandaState[0].current = health['current']
-      msg.pandaState.ignitionLine = health['ignition_line']
+      msg.pandaState[0].ignitionLine = health['ignition_line']
-      msg.pandaState.ignitionCan = health['ignition_can']
+      msg.pandaState[0].ignitionCan = health['ignition_can']
-      msg.pandaState.controlsAllowed = True
+      msg.pandaState[0].controlsAllowed = True
 
       health_sock.send(msg.to_bytes())
 

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -40,13 +40,17 @@ def test_boardd_loopback():
   time.sleep(2)
 
   with Timeout(60, "boardd didn't start"):
-    sm = messaging.SubMaster(['pandaState'])
+    sm = messaging.SubMaster(['pandaStates'])
-    while sm.rcv_frame['pandaState'] < 1:
+    while sm.rcv_frame['pandaStates'] < 1:
       sm.update(1000)
 
   # boardd blocks on CarVin and CarParams
   cp = car.CarParams.new_message()
-  cp.safetyModel = car.CarParams.SafetyModel.allOutput
+
+  safety_config = car.CarParams.SafetyConfig.new_message()
+  safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
+  cp.safetyConfigs = [safety_config]
+
   Params().put("CarVin", b"0"*17)
   Params().put_bool("ControlsReady", True)
   Params().put("CarParams", cp.to_bytes())

selfdrive/car/__init__.py

@@ -1,4 +1,5 @@
 # functions common among cars
+from cereal import car
 from common.numpy_fast import clip
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -121,3 +122,11 @@ def create_gas_command(packer, gas_amount, idx):
 
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
+
+
+def get_safety_config(safety_model, safety_param = None):
+  ret = car.CarParams.SafetyConfig.new_message()
+  ret.safetyModel = safety_model
+  if safety_param is not None:
+    ret.safetyParam = safety_param
+  return ret

selfdrive/car/chrysler/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.car.chrysler.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.safetyModel = car.CarParams.SafetyModel.chrysler
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
     # Speed conversion:              20, 45 mph
     ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017

selfdrive/car/ford/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "ford"
-    ret.safetyModel = car.CarParams.SafetyModel.ford
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     ret.dashcamOnly = True
 
     ret.wheelbase = 2.85

selfdrive/car/gm/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.gm.values import CAR, CruiseButtons, \
                                     AccState, CarControllerParams
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
-    ret.safetyModel = car.CarParams.SafetyModel.gm
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.pcmCruise = False  # stock cruise control is kept off
 
     # Presence of a camera on the object bus is ok.

selfdrive/car/honda/interface.py

@@ -4,7 +4,7 @@ from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
-from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 from selfdrive.config import Conversions as CV
@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:
-      ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness)]
       ret.radarOffCan = True
 
       # Disable the radar and let openpilot control longitudinal
@@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
-      ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
       ret.enableGasInterceptor = 0x201 in fingerprint[0]
       ret.openpilotLongitudinalControl = True
 
@@ -287,10 +287,10 @@ class CarInterface(CarInterfaceBase):
 
     # These cars use alternate user brake msg (0x1BE)
     if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
-      ret.safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
-      ret.safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not

selfdrive/car/hyundai/interface.py

@@ -5,7 +5,7 @@ from common.params import Params
 from selfdrive.config import Conversions as CV
 from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -22,11 +22,10 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
-    ret.safetyModel = car.CarParams.SafetyModel.hyundai
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
 
     ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE]
-    ret.safetyParam = 0
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -250,13 +249,13 @@ class CarInterface(CarInterfaceBase):
     if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
                      CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
                      CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
-      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
 
     # set appropriate safety param for gas signal
     if candidate in HYBRID_CAR:
-      ret.safetyParam = 2
+      ret.safetyConfigs[0].safetyParam = 2
     elif candidate in EV_CAR:
-      ret.safetyParam = 1
+      ret.safetyConfigs[0].safetyParam = 1
 
     ret.centerToFront = ret.wheelbase * 0.4
 
@@ -272,7 +271,7 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x58b in fingerprint[0]
 
     if ret.openpilotLongitudinalControl:
-      ret.safetyParam |= Panda.FLAG_HYUNDAI_LONG
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
 
     return ret
 

selfdrive/car/mazda/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "mazda"
-    ret.safetyModel = car.CarParams.SafetyModel.mazda
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarOffCan = True
 
     ret.dashcamOnly = True

selfdrive/car/mock/interface.py

@@ -4,7 +4,7 @@ from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 # mocked car interface to work with chffrplus
@@ -37,7 +37,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "mock"
-    ret.safetyModel = car.CarParams.SafetyModel.noOutput
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.rotationalInertia = 2500.
     ret.wheelbase = 2.70

selfdrive/car/nissan/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.car.nissan.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "nissan"
-    ret.safetyModel = car.CarParams.SafetyModel.nissan
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
 
     ret.steerLimitAlert = False
     ret.steerRateCost = 0.5
@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyParam = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
       ret.mass = 1492 + STD_CARGO_KG
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/subaru/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
@@ -14,10 +14,10 @@ class CarInterface(CarInterfaceBase):
     ret.radarOffCan = True
 
     if candidate in PREGLOBAL_CARS:
-      ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
       ret.enableBsm = 0x25c in fingerprint[0]
     else:
-      ret.safetyModel = car.CarParams.SafetyModel.subaru
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
 
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
@@ -56,7 +56,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
     if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
-      ret.safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
+      ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/tesla/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.car.tesla.values import CAR
-from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "tesla"
-    ret.safetyModel = car.CarParams.SafetyModel.tesla
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla)]
 
     # There is no safe way to do steer blending with user torque,
     # so the steering behaves like autopilot. This is not

selfdrive/car/toyota/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "toyota"
-    ret.safetyModel = car.CarParams.SafetyModel.toyota
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
 
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
-      ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.safetyConfigs[0].safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.65
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
@@ -69,7 +69,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.COROLLA:
       stop_and_go = False
-      ret.safetyParam = 88
+      ret.safetyConfigs[0].safetyParam = 88
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_RX:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533
@@ -89,7 +89,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -99,7 +99,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_RX_TSS2:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533  # not optimized yet
@@ -109,7 +109,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_RXH_TSS2:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 16.0  # 14.8 is spec end-to-end
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -119,7 +119,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
@@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
@@ -139,7 +139,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
@@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
@@ -159,7 +159,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
       stop_and_go = False
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
@@ -169,7 +169,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
@@ -187,7 +187,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -197,7 +197,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -207,7 +207,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_ESH:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.8190
       ret.steerRatio = 16.06
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -217,7 +217,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.SIENNA:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 3.03
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
@@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_IS:
       stop_and_go = False
-      ret.safetyParam = 77
+      ret.safetyConfigs[0].safetyParam = 77
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
       tire_stiffness_factor = 0.444
@@ -237,7 +237,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
-      ret.safetyParam = 100
+      ret.safetyConfigs[0].safetyParam = 100
       ret.wheelbase = 2.60
       ret.steerRatio = 18.6
       tire_stiffness_factor = 0.517
@@ -247,7 +247,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -257,7 +257,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.PRIUS_TSS2:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRation from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
@@ -267,7 +267,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.91
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
@@ -277,7 +277,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.ALPHARD_TSS2:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 3.00
       ret.steerRatio = 14.2
       tire_stiffness_factor = 0.444

selfdrive/car/volkswagen/interface.py

@@ -1,6 +1,6 @@
 from cereal import car
 from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
@@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
 
     if True:  # pylint: disable=using-constant-test
       # Set global MQB parameters
-      ret.safetyModel = car.CarParams.SafetyModel.volkswagen
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
       if 0xAD in fingerprint[0]:  # Getriebe_11

selfdrive/controls/controlsd.py

@@ -49,6 +49,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonEvent = car.CarState.ButtonEvent
+SafetyModel = car.CarParams.SafetyModel
 
 
 class Controls:
@@ -72,7 +73,7 @@ class Controls:
     self.sm = sm
     if self.sm is None:
       ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
-      self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'peripheralState', 'modelV2', 'liveCalibration',
+      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
                                      ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
@@ -110,7 +111,9 @@ class Controls:
     self.read_only = not car_recognized or not controller_available or \
                        self.CP.dashcamOnly or community_feature_disallowed
     if self.read_only:
-      self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      self.CP.safetyConfigs = [safety_config]
 
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
@@ -240,16 +243,21 @@ class Controls:
     if self.can_rcv_error or not CS.canValid:
       self.events.add(EventName.canError)
 
-    safety_mismatch = self.sm['pandaState'].safetyModel != self.CP.safetyModel or self.sm['pandaState'].safetyParam != self.CP.safetyParam
+    for i, pandaState in enumerate(self.sm['pandaStates']):
-    if safety_mismatch or self.mismatch_counter >= 200:
+      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent
-      self.events.add(EventName.controlsMismatch)
+      if i < len(self.CP.safetyConfigs):
+        safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam
+      else:
+        safety_mismatch = pandaState.safetyModel != SafetyModel.silent
+      if safety_mismatch or self.mismatch_counter >= 200:
+        self.events.add(EventName.controlsMismatch)
 
     if not self.sm['liveParameters'].valid:
       self.events.add(EventName.vehicleModelInvalid)
 
     if len(self.sm['radarState'].radarErrors):
       self.events.add(EventName.radarFault)
-    elif not self.sm.valid["pandaState"]:
+    elif not self.sm.valid["pandaStates"]:
       self.events.add(EventName.usbError)
     elif not self.sm.all_alive_and_valid():
       self.events.add(EventName.commIssue)
@@ -270,8 +278,9 @@ class Controls:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
-    if log.PandaState.FaultType.relayMalfunction in self.sm['pandaState'].faults:
+    for pandaState in self.sm['pandaStates']:
-      self.events.add(EventName.relayMalfunction)
+      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
+        self.events.add(EventName.relayMalfunction)
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
     model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed
     if planner_fcw or model_fcw:
@@ -355,8 +364,10 @@ class Controls:
     if not self.enabled:
       self.mismatch_counter = 0
 
-    if not self.sm['pandaState'].controlsAllowed and self.enabled:
+    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
-      self.mismatch_counter += 1
+    for pandaState in self.sm['pandaStates']:
+      if pandaState.safetyModel != SafetyModel.silent and not pandaState.controlsAllowed and self.enabled:
+        self.mismatch_counter += 1
 
     self.distance_traveled += CS.vEgo * DT_CTRL
 

selfdrive/controls/tests/test_startup.py

@@ -70,7 +70,7 @@ class TestStartup(unittest.TestCase):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
-    pm = messaging.PubMaster(['can', 'pandaState'])
+    pm = messaging.PubMaster(['can', 'pandaStates'])
 
     params = Params()
     params.clear_all()
@@ -98,9 +98,9 @@ class TestStartup(unittest.TestCase):
 
     time.sleep(2) # wait for controlsd to be ready
 
-    msg = messaging.new_message('pandaState')
+    msg = messaging.new_message('pandaStates', 1)
-    msg.pandaState.pandaType = log.PandaState.PandaType.uno
+    msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-    pm.send('pandaState', msg)
+    pm.send('pandaStates', msg)
 
     # fingerprint
     if (car_model is None) or (fw_versions is not None):

selfdrive/debug/cycle_alerts.py

@@ -21,10 +21,10 @@ def cycle_alerts(duration=2000, is_metric=False):
   alerts = [EventName.preLaneChangeLeft, EventName.preLaneChangeRight]
 
   CP = CarInterface.get_params("HONDA CIVIC 2016")
-  sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
-  pm = messaging.PubMaster(['controlsState', 'pandaState', 'deviceState'])
+  pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
 
   events = Events()
   AM = AlertManager()
@@ -61,10 +61,9 @@ def cycle_alerts(duration=2000, is_metric=False):
     dat.deviceState.started = True
     pm.send('deviceState', dat)
 
-    dat = messaging.new_message()
+    dat = messaging.new_message('pandaStates', 1)
-    dat.init('pandaState')
+    dat.pandaStates[0].ignitionLine = True
-    dat.pandaState.ignitionLine = True
+    pm.send('pandaStates', dat)
-    pm.send('pandaState', dat)
 
     time.sleep(0.01)
 

selfdrive/debug/internal/check_alive_valid.py

@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 
 
 if __name__ == "__main__":
-  sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan'])
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan'])
 
   i = 0
   while True:

selfdrive/debug/test_fw_query_on_routes.py

@@ -71,8 +71,8 @@ if __name__ == "__main__":
       dongles.append(dongle_id)
 
       for msg in lr:
-        if msg.which() == "pandaState":
+        if msg.which() == "pandaStates":
-          if msg.pandaState.pandaType not in ['uno', 'blackPanda', 'dos']:
+          if msg.pandaStates[0].pandaType not in ['uno', 'blackPanda', 'dos']:
             break
 
         elif msg.which() == "carParams":

selfdrive/debug/uiview.py

@@ -4,19 +4,20 @@ import cereal.messaging as messaging
 from selfdrive.manager.process_config import managed_processes
 
 if __name__ == "__main__":
-  services = ['controlsState', 'deviceState', 'pandaState', 'carParams']
   procs = ['camerad', 'ui', 'modeld', 'calibrationd']
 
   for p in procs:
     managed_processes[p].start()
 
-  pm = messaging.PubMaster(services)
+  pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
 
-  msgs = {s: messaging.new_message(s) for s in services}
+  msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
   msgs['deviceState'].deviceState.started = True
-  msgs['pandaState'].pandaState.ignitionLine = True
   msgs['carParams'].carParams.openpilotLongitudinalControl = True
 
+  msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
+  msgs['pandaStates'].pandaStates[0].ignitionLine = True
+
   try:
     while True:
       time.sleep(1 / 100)  # continually send, rate doesn't matter

selfdrive/test/process_replay/process_replay.py

@@ -240,7 +240,7 @@ CONFIGS = [
     proc_name="controlsd",
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "deviceState": [], "pandaState": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
+      "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
       "modelV2": [], "driverCameraState": [], "roadCameraState": [], "ubloxRaw": [], "managerState": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5ee94677282bcea512e0d929e55e71308f14d530
+22f78d143d7e17e9ac7d0be8e29d5d7b5477ecd3

selfdrive/test/process_replay/regen.py

@@ -118,7 +118,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
     ],
     'pandad': [
       multiprocessing.Process(target=replay_service, args=('can', lr)),
-      multiprocessing.Process(target=replay_service, args=('pandaState', lr)),
+      multiprocessing.Process(target=replay_service, args=('pandaStates', lr)),
     ],
     #'managerState': [
     #  multiprocessing.Process(target=replay_service, args=('managerState', lr)),

selfdrive/test/process_replay/test_processes.py

@@ -15,6 +15,7 @@ original_segments = [
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
+  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA
@@ -29,17 +30,17 @@ original_segments = [
 ]
 
 segments = [
-  ("HYUNDAI", "fakedata|2021-07-09--16-01-34--0"),
+  ("HYUNDAI", "fakedata|2021-10-07--15-56-26--0"),
-  ("TOYOTA", "1d6dfff4b6098f01|2021-07-26--07-56-21--2"),
+  ("TOYOTA", "fakedata|2021-10-07--15-57-47--0"),
-  ("TOYOTA2", "fakedata|2021-07-09--16-03-56--0"),
+  ("TOYOTA2", "fakedata|2021-10-07--15-59-03--0"),
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
+  ("TOYOTA3", "fakedata|2021-10-07--15-53-21--0"),
-  ("HONDA", "fakedata|2021-07-09--16-05-07--0"),
+  ("HONDA", "fakedata|2021-10-07--16-00-19--0"),
-  ("HONDA2", "fakedata|2021-07-09--16-08-28--0"),
+  ("HONDA2", "fakedata|2021-10-07--16-01-35--0"),
-  ("CHRYSLER", "fakedata|2021-07-09--16-09-39--0"),
+  ("CHRYSLER", "fakedata|2021-10-07--16-02-52--0"),
-  ("SUBARU", "fakedata|2021-07-09--16-10-50--0"),
+  ("SUBARU", "fakedata|2021-10-07--16-04-09--0"),
-  ("GM", "fakedata|2021-07-09--16-13-53--0"),
+  ("GM", "fakedata|2021-10-07--16-05-26--0"),
-  ("NISSAN", "fakedata|2021-07-09--16-17-35--0"),
+  ("NISSAN", "fakedata|2021-10-07--16-09-53--0"),
-  ("VOLKSWAGEN", "fakedata|2021-07-09--16-29-13--0"),
+  ("VOLKSWAGEN", "fakedata|2021-10-07--16-11-11--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

selfdrive/test/test_models.py

@@ -94,8 +94,8 @@ class TestCarModel(unittest.TestCase):
 
     # TODO: check safetyModel is in release panda build
     safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
+    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
-    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyModel}")
+    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
 
   def test_car_interface(self):
     # TODO: also check for checkusm and counter violations from can parser
@@ -130,7 +130,7 @@ class TestCarModel(unittest.TestCase):
       self.skipTest("no need to check panda safety for dashcamOnly")
 
     safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
+    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
     self.assertEqual(0, set_status)
 
     failed_addrs = Counter()
@@ -150,7 +150,7 @@ class TestCarModel(unittest.TestCase):
       self.skipTest("see comments in test_models.py")
 
     safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
+    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
     self.assertEqual(0, set_status)
 
     checks = defaultdict(lambda: 0)

selfdrive/test/test_onroad.py

@@ -65,7 +65,7 @@ if TICI:
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],
-  "pandaState": [2.5, 0.35],
+  "pandaStates": [2.5, 0.35],
   "peripheralState": [2.5, 0.35],
   "sendcan": [2.5, 0.35],
   "carState": [2.5, 0.35],

selfdrive/thermald/thermald.py

@@ -154,7 +154,7 @@ def thermald_thread():
   pm = messaging.PubMaster(['deviceState'])
 
   pandaState_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
-  pandaState_sock = messaging.sub_sock('pandaState', timeout=pandaState_timeout)
+  pandaState_sock = messaging.sub_sock('pandaStates', timeout=pandaState_timeout)
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState"])
 
   fan_speed = 0
@@ -203,15 +203,15 @@ def thermald_thread():
     params.put_bool("BootedOnroad", True)
 
   while True:
-    pandaState = messaging.recv_sock(pandaState_sock, wait=True)
+    pandaStates = messaging.recv_sock(pandaState_sock, wait=True)
 
     sm.update(0)
     peripheralState = sm['peripheralState']
 
     msg = read_thermal(thermal_config)
 
-    if pandaState is not None:
+    if pandaStates is not None and len(pandaStates.pandaStates) > 0:
-      pandaState = pandaState.pandaState
+      pandaState = pandaStates.pandaStates[0]
 
       # If we lose connection to the panda, wait 5 seconds before going offroad
       if pandaState.pandaType == log.PandaState.PandaType.unknown:
@@ -446,7 +446,7 @@ def thermald_thread():
 
       cloudlog.event("STATUS_PACKET",
                      count=count,
-                     pandaState=(strip_deprecated_keys(pandaState.to_dict()) if pandaState else None),
+                     pandaStates=(strip_deprecated_keys(pandaStates.to_dict()) if pandaStates else None),
                      peripheralState=strip_deprecated_keys(peripheralState.to_dict()),
                      location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
                      deviceState=strip_deprecated_keys(msg.to_dict()))

selfdrive/ui/ui.cc

@@ -134,14 +134,19 @@ static void update_state(UIState *s) {
       }
     }
   }
-  if (sm.updated("pandaState")) {
+  if (sm.updated("pandaStates")) {
-    auto pandaState = sm["pandaState"].getPandaState();
+    auto pandaStates = sm["pandaStates"].getPandaStates();
-    scene.pandaType = pandaState.getPandaType();
+    if (pandaStates.size() > 0) {
-
+      scene.pandaType = pandaStates[0].getPandaType();
-    if (scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
+
-      scene.ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
+      if (scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
+        scene.ignition = false;
+        for (const auto& pandaState : pandaStates) {
+          scene.ignition |= pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
+        }
+      }
     }
-  } else if ((s->sm->frame - s->sm->rcv_frame("pandaState")) > 5*UI_FREQ) {
+  } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
     scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
   }
   if (sm.updated("carParams")) {
@@ -220,7 +225,7 @@ static void update_status(UIState *s) {
 QUIState::QUIState(QObject *parent) : QObject(parent) {
   ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "deviceState", "roadCameraState",
-    "pandaState", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
+    "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
   });
 
   ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;

tools/sim/bridge.py

@@ -84,17 +84,17 @@ def imu_callback(imu, vehicle_state):
   pm.send('sensorEvents', dat)
 
 def panda_state_function(exit_event: threading.Event):
-  pm = messaging.PubMaster(['pandaState'])
+  pm = messaging.PubMaster(['pandaStates'])
   while not exit_event.is_set():
-    dat = messaging.new_message('pandaState')
+    dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
-    dat.pandaState = {
+    dat.pandaStates[0] = {
       'ignitionLine': True,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec'
     }
-    pm.send('pandaState', dat)
+    pm.send('pandaStates', dat)
     time.sleep(0.5)
 
 def gps_callback(gps, vehicle_state):