Merge branch 'commaai:master' into move-alphalong-to-developerpanel

6 months ago · 5cfb31696c
parent ad107c00a2 5e4b423b5a
commit 5cfb31696c
61 changed files with 690 additions and 562 deletions
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -1,7 +1,7 @@
 name: release
 on:
  schedule:
-    - cron: '0 10 * * *'
+    - cron: '0 9 * * *'
  workflow_dispatch:

 jobs:
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -41,7 +41,12 @@ jobs:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: git lfs pull
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
@ -97,26 +102,26 @@ jobs:

  build_mac:
    name: build macOS
-    runs-on: macos-latest
+    runs-on: namespace-profile-macos-8x14
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: git lfs pull
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: ~/Library/Caches/Homebrew
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
+    - run: git lfs pull
    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
    - name: Getting scons cache
-      uses: 'actions/cache@v4'
+      uses: ./.github/workflows/auto-cache
      with:
        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(nproc)

@ -169,10 +174,10 @@ jobs:
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run unit tests
-      timeout-minutes: 15
+      timeout-minutes: 1
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
+                        MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        pytest ./selfdrive/ui/tests/test_translations.py"
@ -246,7 +251,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix:
-        job: [0, 1]
+        job: [0, 1, 2, 3]
    steps:
    - uses: actions/checkout@v4
      with:
@ -261,12 +266,12 @@ jobs:
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: 20
+      timeout-minutes: 2
      run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
-        NUM_JOBS: 2
+        NUM_JOBS: 4
        JOB_ID: ${{ matrix.job }}
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v4
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@ -20,6 +20,18 @@ runs:
        echo "You should not run this action directly. Use setup-with-retry instead"
        exit 1

+    - shell: bash
+      name: No retries!
+      run: |
+        if [ "${{ github.run_attempt }}" -gt 1 ]; then
+          echo -e "\033[31m"
+          echo "##################################################"
+          echo "    Retries not allowed! Fix the flaky test!      "
+          echo "##################################################"
+          echo -e "\033[0m"
+          exit 1
+        fi
+
    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
    - shell: bash
      run: git lfs pull
--- a/.gitignore
+++ b/.gitignore
@ -76,6 +76,7 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl

 *.bz2
+*.zst

 build/

--- a/10
+++ b/10
@ -66,7 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-${cmd}
+time ${cmd}
 END"""

    sh script: ssh_cmd, label: step_label
@ -198,7 +198,7 @@ node {
          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
        ])
      },
@ -207,7 +207,7 @@ node {
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [timeout: 60]),
          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
@ -221,12 +221,12 @@ node {
      'camerad': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
--- a/RELEASES.md
+++ b/RELEASES.md
@ -5,7 +5,11 @@ Version 0.9.8 (2024-XX-XX)
  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune

 Version 0.9.7 (2024-06-13)
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@ -63,13 +63,12 @@ class TestSubMaster:
  def test_update_timeout(self):
    sock = random_sock()
    sm = messaging.SubMaster([sock,])
-    for _ in range(5):
-      timeout = random.randrange(1000, 5000)
+    timeout = random.randrange(1000, 3000)
    start_time = time.monotonic()
    sm.update(timeout)
    t = time.monotonic() - start_time
    assert t >= timeout/1000.
-      assert t < 5
+    assert t < 3
    assert not any(sm.updated.values())

  def test_avg_frequency_checks(self):
--- a/common/pid.py
+++ b/common/pid.py
@ -59,15 +59,13 @@ class PIDController:
    if override:
      self.i -= self.i_unwind_rate * float(np.sign(self.i))
    else:
-      i = self.i + error * self.k_i * self.i_rate
-      control = self.p + i + self.d + self.f
-
-      # Update when changing i will move the control away from the limits
-      # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-         not freeze_integrator:
-        self.i = i
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
+
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f

--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -30,21 +30,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@ -11,6 +11,9 @@ On the comma three, the serial console is exposed through a UART-to-USB chip, an

 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.

+  * Username: `comma`
+  * Password: `comma`
+
 ## SSH

 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d632cc5bec14d4e077fdf25e19b24b434c2653fd
+Subproject commit 9b5f697a1ec82cf3a27ac0c93367ff91e83bedb2
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e
+Subproject commit aab03bc4b6ab02be7db3fd60f034a84d79ad93b4
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -4,6 +4,7 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
+from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@ -22,7 +23,8 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \
+                                          internal_source_zst, comma_api_source, auto_source
 from openpilot.tools.lib.route import SegmentName

 from panda.tests.libpanda import libpanda_py
@ -93,7 +95,7 @@ class TestCarModelBase(unittest.TestCase):
        car_fw = msg.carParams.carFw
        if msg.carParams.openpilotLongitudinalControl:
          experimental_long = True
-        if cls.platform is None and not cls.test_route_on_bucket:
+        if cls.platform is None:
          live_fingerprint = msg.carParams.carFingerprint
          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)

@ -126,7 +128,9 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        lr = LogReader(segment_range)
+        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
+                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
+        lr = LogReader(segment_range, source=source)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
        pass
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@ -14,7 +14,6 @@ N_RUNS = 10

 class CarModelTestCase(TestCarModelBase):
  test_route = CarTestRoute(DEMO_ROUTE, None)
-  ci = False


 if __name__ == '__main__':
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@ -139,7 +139,6 @@ def main():
  pm = PubMaster(["driverStateV2"])

  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # last = 0

  while True:
    buf = vipc_client.recv()
@ -155,8 +154,6 @@ def main():
    t2 = time.perf_counter()

    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
-    # last = t1


 if __name__ == "__main__":
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
-size 50309976
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+size 50320138
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@ -306,6 +306,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
    LOGW("reading hwmon took %lfms", read_time);
  }

+  // fall back to panda's voltage and current measurement
+  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
+    auto health_opt = panda->get_state();
+    if (health_opt) {
+      health_t health = *health_opt;
+      ps.setVoltage(health.voltage_pkt);
+      ps.setCurrent(health.current_pkt);
+    }
+  }
+
  uint16_t fan_speed_rpm = panda->get_fan_speed();
  ps.setFanSpeedRpm(fan_speed_rpm);

--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@ -6,6 +6,7 @@ import capnp
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from opendbc.car.ford.values import CAR as FORD, FordFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@ -270,6 +271,8 @@ def migrate_pandaStates(msgs):
    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
  }
+  # TODO: get new Ford route
+  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}

  # Migrate safety param base on carParams
  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -58,10 +58,18 @@ def generate_report(proposed, master, tmp, commit):
                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                    ], "modelV2")
+  DriverStateV2_Plots = zl([
+                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
+                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
+                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
+                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
+                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
+                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
+                    ], "driverStateV2")

  return [plot(map(v[0], get_event(proposed, event)), \
               map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
-               for v,event in [*ModelV2_Plots]]
+               for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]

 def create_table(title, files, link, open_table=False):
  if not files:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-992ac80ef848afb85562ca24b1c5a3d410aacd05
+2fc2e865ab77fd8145feab86d454f2111c5d9871
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -56,7 +56,7 @@ segments = [
  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
  ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
+  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -10,8 +10,8 @@ import time
 import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
-from functools import cached_property
 from pathlib import Path
+from tabulate import tabulate

 from cereal import car, log
 import cereal.messaging as messaging
@ -33,6 +33,9 @@ CPU usage budget
  should not exceed MAX_TOTAL_CPU
 """

+TEST_DURATION = 25
+LOG_OFFSET = 8
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
  # Baseline CPU usage by process
@ -49,28 +52,28 @@ PROCS = {
  "selfdrive.controls.radard": 2.0,
  "selfdrive.modeld.modeld": 17.0,
  "selfdrive.modeld.dmonitoringmodeld": 11.0,
-  "system.hardware.hardwared": 3.87,
+  "system.hardware.hardwared": 4.0,
  "selfdrive.locationd.calibrationd": 2.0,
  "selfdrive.locationd.torqued": 5.0,
  "selfdrive.locationd.locationd": 25.0,
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 1.54,
-  "system.logmessaged": 0.2,
+  "./proclogd": 2.0,
+  "system.logmessaged": 1.0,
  "system.tombstoned": 0,
-  "./logcatd": 0,
+  "./logcatd": 1.0,
  "system.micd": 5.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
-  "system.statsd": 0.4,
-  "system.loggerd.uploader": (0.5, 15.0),
-  "system.loggerd.deleter": 0.1,
+  "system.statsd": 1.0,
+  "system.loggerd.uploader": 15.0,
+  "system.loggerd.deleter": 1.0,
 }

 PROCS.update({
  "tici": {
    "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "./ubloxd": 1.0,
    "system.ubloxd.pigeond": 6.0,
  },
  "tizi": {
@ -98,6 +101,13 @@ TIMINGS = {
  "wideRoadCameraState": [1.5, 0.35],
 }

+LOGS_SIZE_RATE = {
+  "qlog": 0.0083,
+  "rlog": 0.1528,
+  "qcamera.ts": 0.03828,
+}
+LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
+

 def cputime_total(ct):
  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@ -124,7 +134,7 @@ class TestOnroad:
    if os.path.exists(Paths.log_root()):
      shutil.rmtree(Paths.log_root())

-    # start manager and run openpilot for a minute
+    # start manager and run openpilot for TEST_DURATION
    proc = None
    try:
      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
@ -135,26 +145,24 @@ class TestOnroad:
        while sm.recv_frame['carState'] < 0:
          sm.update(1000)

-      # make sure we get at least two full segments
      route = None
      cls.segments = []
      with Timeout(300, "timed out waiting for logs"):
        while route is None:
          route = params.get("CurrentRoute", encoding="utf-8")
-          time.sleep(0.1)
+          time.sleep(0.01)

        # test car params caching
        params.put("CarParamsCache", car.CarParams().to_bytes())

-        while len(cls.segments) < 3:
+        while len(cls.segments) < 1:
          segs = set()
          if Path(Paths.log_root()).exists():
            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
-          time.sleep(2)
+          time.sleep(0.01)

-      # chop off last, incomplete segment
-      cls.segments = cls.segments[:-1]
+      time.sleep(TEST_DURATION)

    finally:
      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
@ -166,9 +174,8 @@ class TestOnroad:

    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]

-    # use the second segment by default as it's the first full segment
-    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
-    cls.log_path = cls.segments[1]
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.log_path = cls.segments[0]

    cls.log_sizes = {}
    for f in cls.log_path.iterdir():
@ -178,16 +185,13 @@ class TestOnroad:
        with open(f, 'rb') as ff:
          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6

+    cls.msgs = defaultdict(list)
+    for m in cls.lr:
+      cls.msgs[m.which()].append(m)

-  @cached_property
-  def service_msgs(self):
-    msgs = defaultdict(list)
-    for m in self.lr:
-      msgs[m.which()].append(m)
-    return msgs

  def test_service_frequencies(self, subtests):
-    for s, msgs in self.service_msgs.items():
+    for s, msgs in self.msgs.items():
      if s in ('initData', 'sentinel'):
        continue

@ -196,10 +200,10 @@ class TestOnroad:
        continue

      with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))

  def test_cloudlog_size(self):
-    msgs = [m for m in self.lr if m.which() == 'logMessage']
+    msgs = self.msgs['logMessage']

    total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
    assert total_size < 3.5e5
@ -210,16 +214,10 @@ class TestOnroad:

  def test_log_sizes(self):
    for f, sz in self.log_sizes.items():
-      if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.6
-      elif f.name == "qlog":
-        assert 0.4 < sz < 0.55
-      elif f.name == "rlog":
-        assert 5 < sz < 50
-      elif f.name.endswith('.hevc'):
-        assert 70 < sz < 80
-      else:
-        raise NotImplementedError
+      rate = LOGS_SIZE_RATE[f.name]
+      minn = rate * TEST_DURATION * 0.8
+      maxx = rate * TEST_DURATION * 1.2
+      assert minn < sz <  maxx

  def test_ui_timings(self):
    result = "\n"
@ -227,7 +225,7 @@ class TestOnroad:
    result += "-------------- UI Draw Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
+    ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
    result += f"min  {min(ts):.2f}ms\n"
    result += f"max  {max(ts):.2f}ms\n"
    result += f"std  {np.std(ts):.2f}ms\n"
@ -244,53 +242,44 @@ class TestOnroad:
    assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"

  def test_cpu_usage(self, subtests):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "------------------ CPU Usage -------------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("------------------ CPU Usage -------------------")
+    print("------------------------------------------------")

    plogs_by_proc = defaultdict(list)
-    for pl in self.service_msgs['procLog']:
+    for pl in self.msgs['procLog']:
      for x in pl.procLog.procs:
        if len(x.cmdline) > 0:
          n = list(x.cmdline)[0]
          plogs_by_proc[n].append(x)
-    print(plogs_by_proc.keys())

    cpu_ok = True
-    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
-    for proc_name, expected_cpu in PROCS.items():
+    dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
+    header = ['process', 'usage', 'expected', 'max allowed', 'test result']
+    rows = []
+    for proc_name, expected in PROCS.items():

-      err = ""
-      exp = "???"
-      cpu_usage = 0.
+      error = ""
+      usage = 0.
      x = plogs_by_proc[proc_name]
      if len(x) > 2:
        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-        cpu_usage = cpu_time / dt * 100.
+        usage = cpu_time / dt * 100.

-        if isinstance(expected_cpu, tuple):
-          exp = str(expected_cpu)
-          minn, maxx = expected_cpu
-        else:
-          exp = f"{expected_cpu:5.2f}"
-          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
-          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
-
-        if cpu_usage > maxx:
-          err = "using more CPU than expected"
-        elif cpu_usage < minn:
-          err = "using less CPU than expected"
-      else:
-        err = "NO METRICS FOUND"
+        max_allowed = max(expected * 1.8, expected + 5.0)
+        if usage > max_allowed:
+          error = "❌ USING MORE CPU THAN EXPECTED ❌"
+          cpu_ok = False

-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
-      if len(err) > 0:
+      else:
+        error = "❌ NO METRICS FOUND ❌"
        cpu_ok = False
-    result += "------------------------------------------------\n"
+
+      rows.append([proc_name, usage, expected, max_allowed, error or "✅"])
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))

    # Ensure there's no missing procs
-    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
    for p in all_procs:
      with subtests.test(proc=p):
        assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@ -299,16 +288,15 @@ class TestOnroad:
    procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
    with subtests.test(name="total CPU"):
      assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
-    result +=  "------------------------------------------------\n"
-    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
-    result +=  "------------------------------------------------\n"
-
-    print(result)
+    print("------------------------------------------------")
+    print(f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left")
+    print("------------------------------------------------")

    assert cpu_ok

  def test_memory_usage(self):
-    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
+    mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
    print("Memory usage: ", mems)

    # check for big leaks. note that memory usage is
@ -324,7 +312,9 @@ class TestOnroad:
    result += "-------------- ImgProc Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
+    ts = []
+    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
+      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
    assert min(ts) < 0.025, f"high execution time: {min(ts)}"
    result += f"execution time: min  {min(ts):.5f}s\n"
    result += f"execution time: max  {max(ts):.5f}s\n"
@ -357,7 +347,7 @@ class TestOnroad:

    cfgs = [("longitudinalPlan", 0.05, 0.05),]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@ -377,7 +367,7 @@ class TestOnroad:
      ("driverStateV2", 0.050, 0.026),
    ]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@ -388,33 +378,32 @@ class TestOnroad:

  def test_timings(self):
    passed = True
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "----------------- Service Timings --------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("----------------- Service Timings --------------")
+    print("------------------------------------------------")
+
+    header = ['service', 'max', 'min', 'mean', 'expected mean', 'rsd', 'max allowed rsd', 'test result']
+    rows = []
    for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.service_msgs[s]]
+      offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
+      msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
      if not len(msgs):
        raise Exception(f"missing {s}")

      ts = np.diff(msgs) / 1e9
      dt = 1 / SERVICE_LIST[s].frequency

-      try:
-        np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
-        np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
-      except Exception as e:
-        result += str(e) + "\n"
-        passed = False
-
-      if np.std(ts) / dt > rsd:
-        result += f"{s} - failed RSD timing check\n"
-        passed = False
-
-      result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
-      result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
-    result += "="*67
-    print(result)
+      errors = []
+      if not np.allclose(np.mean(ts), dt, rtol=0.03, atol=0):
+        errors.append("❌ FAILED MEAN TIMING CHECK ❌")
+      if not np.allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, atol=0):
+        errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
+      if (np.std(ts)/dt) > rsd:
+        errors.append("❌ FAILED RSD TIMING CHECK ❌")
+      passed = not errors
+      rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])
+
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
    assert passed

  @release_only
@ -430,11 +419,12 @@ class TestOnroad:

  def test_engagable(self):
    no_entries = Counter()
-    for m in self.service_msgs['onroadEvents']:
+    for m in self.msgs['onroadEvents']:
      for evt in m.onroadEvents:
        if evt.noEntry:
          no_entries[evt.name] += 1

-    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
+    offset = int(SERVICE_LIST['selfdriveState'].frequency * LOG_OFFSET)
+    eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
    assert all(eng), \
           f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@ -92,7 +92,7 @@ if GetOption('extras') and arch != "Darwin":
    ("openpilot", release),
    ("openpilot_test", f"{release}-staging"),
    ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "master"),
+    ("openpilot_internal", "nightly-dev"),
  ]

  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
@ -110,3 +110,5 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+
+SConscript(['raylib/SConscript'])
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
    auto current = params.get("GitBranch");
    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
      auto i = branches.indexOf(b);
      if (i >= 0) {
        branches.removeAt(i);
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
  std::stringstream buffer;
  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
+  if (voltage > 0 && voltage < 7) {
    addWidget(low_voltage());
  }

--- a/selfdrive/ui/raylib/.gitignore
+++ b/selfdrive/ui/raylib/.gitignore
@ -0,0 +1 @@
+_spinner
--- a/selfdrive/ui/raylib/SConscript
+++ b/selfdrive/ui/raylib/SConscript
@ -0,0 +1,17 @@
+Import('env', 'arch', 'common')
+
+raylib_env = env.Clone()
+raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
+linked_libs = ['raylib', raylib_util_lib, common]
+raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+
+mac_frameworks = []
+if arch == "Darwin":
+  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+elif arch == 'larch64':
+  linked_libs += []
+else:
+  linked_libs += ['OpenCL', 'dl', 'pthread']
+
+if arch != 'aarch64':
+  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
--- a/selfdrive/ui/raylib/spinner.cc
+++ b/selfdrive/ui/raylib/spinner.cc
@ -0,0 +1,69 @@
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+
+#include "selfdrive/ui/raylib/util.h"
+#include "third_party/raylib/include/raylib.h"
+
+constexpr int kProgressBarWidth = 1000;
+constexpr int kProgressBarHeight = 20;
+constexpr float kRotationRate = 12.0f;
+constexpr int kMargin = 200;
+constexpr int kTextureSize = 360;
+constexpr int kFontSize = 80;
+
+int main(int argc, char *argv[]) {
+  initApp("spinner", 30);
+
+  // Turn off input buffering for std::cin
+  std::cin.sync_with_stdio(false);
+  std::cin.tie(nullptr);
+
+  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
+
+  float rotation = 0.0f;
+  std::string userInput;
+
+  while (!WindowShouldClose()) {
+    BeginDrawing();
+    ClearBackground(BLACK);
+
+    rotation = fmod(rotation + kRotationRate, 360.0f);
+    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
+    const Vector2 spinnerOrigin{kTextureSize / 2.0f, kTextureSize / 2.0f};
+    const Vector2 commaPosition{center.x - kTextureSize / 2.0f, center.y - kTextureSize / 2.0f};
+
+    // Draw rotating spinner and static comma logo
+    DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
+                   {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
+                   spinnerOrigin, rotation, WHITE);
+    DrawTextureV(commaTexture, commaPosition, WHITE);
+
+    // Check for user input
+    if (std::cin.rdbuf()->in_avail() > 0) {
+      std::getline(std::cin, userInput);
+    }
+
+    // Display either a progress bar or user input text based on input
+    if (!userInput.empty()) {
+      float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
+      if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
+        Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
+        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+
+        int progress = std::clamp(std::stoi(userInput), 0, 100);
+        bar.width *= progress / 100.0f;
+        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+      } else {
+        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+      }
+    }
+
+    EndDrawing();
+  }
+
+  CloseWindow();
+  return 0;
+}
--- a/selfdrive/ui/raylib/util.cc
+++ b/selfdrive/ui/raylib/util.cc
@ -0,0 +1,56 @@
+#include "selfdrive/ui/raylib/util.h"
+
+#include <array>
+
+#undef GREEN
+#undef RED
+#undef YELLOW
+#include "common/swaglog.h"
+#include "system/hardware/hw.h"
+
+constexpr std::array<const char *, static_cast<int>(FontWeight::Count)> FONT_FILE_PATHS = {
+    "../../assets/fonts/Inter-Black.ttf",
+    "../../assets/fonts/Inter-Bold.ttf",
+    "../../assets/fonts/Inter-ExtraBold.ttf",
+    "../../assets/fonts/Inter-ExtraLight.ttf",
+    "../../assets/fonts/Inter-Medium.ttf",
+    "../../assets/fonts/Inter-Regular.ttf",
+    "../../assets/fonts/Inter-SemiBold.ttf",
+    "../../assets/fonts/Inter-Thin.ttf",
+};
+
+struct FontManager {
+  FontManager() {
+    for (int i = 0; i < fonts.size(); ++i) {
+      fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
+      SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
+    }
+  }
+
+  ~FontManager() {
+    for (auto &f : fonts) UnloadFont(f);
+  }
+
+  std::array<Font, static_cast<int>(FontWeight::Count)> fonts;
+};
+
+const Font& getFont(FontWeight weight) {
+  static FontManager font_manager;
+  return font_manager.fonts[(int)weight];
+}
+
+Texture2D LoadTextureResized(const char *fileName, int size) {
+  Image img = LoadImage(fileName);
+  ImageResize(&img, size, size);
+  Texture2D texture = LoadTextureFromImage(img);
+  SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
+  return texture;
+}
+
+void initApp(const char *title, int fps) {
+  Hardware::set_display_power(true);
+  Hardware::set_brightness(65);
+  // SetTraceLogLevel(LOG_NONE);
+  InitWindow(0, 0, title);
+  SetTargetFPS(fps);
+}
--- a/selfdrive/ui/raylib/util.h
+++ b/selfdrive/ui/raylib/util.h
@ -0,0 +1,21 @@
+#pragma once
+
+#include <string>
+
+#include "third_party/raylib/include/raylib.h"
+
+enum class FontWeight {
+  Normal,
+  Bold,
+  ExtraBold,
+  ExtraLight,
+  Medium,
+  Regular,
+  SemiBold,
+  Thin,
+  Count // To represent the total number of fonts
+};
+
+void initApp(const char *title, int fps);
+const Font& getFont(FontWeight weight = FontWeight::Normal);
+Texture2D LoadTextureResized(const char *fileName, int size);
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع تصحيح أخطاء عصا التحكم</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع المناورة الطولية</translation>
    </message>
    <message>
        <source>openpilot Longitudinal Control (Alpha)</source>
@ -455,11 +455,11 @@
    </message>
    <message>
        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>في انتظار البدء</translation>
    </message>
    <message>
        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>النظام لا يستجيب</translation>
    </message>
 </context>
 <context>
@ -651,7 +651,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>المطور</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de depuración de joystick</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de maniobra longitudinal</translation>
    </message>
    <message>
        <source>openpilot Longitudinal Control (Alpha)</source>
@ -635,7 +635,7 @@ Esto puede tardar un minuto.</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Desarrollador</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>조이스틱 디버그 모드</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>롱컨 기동 모드</translation>
    </message>
    <message>
        <source>openpilot Longitudinal Control (Alpha)</source>
@ -631,7 +631,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>개발자</translation>
    </message>
 </context>
 <context>
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -114,7 +114,7 @@ bool CameraBuf::acquire(int expo_time) {
    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
  } else {
    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
-    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9;
  }

  VisionIpcBufExtra extra = {
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -55,7 +55,7 @@ public:

  float fl_pix = 0;

-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@ -78,6 +78,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r

 AR0231::AR0231() {
  image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = true;
  frame_width = 1928;
@ -144,16 +145,19 @@ AR0231::AR0231() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }

 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@ -22,6 +22,7 @@ const uint32_t os04c10_analog_gains_reg[] = {

 OS04C10::OS04C10() {
  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
  pixel_size_mm = 0.004;
  data_word = false;

@ -70,7 +71,7 @@ OS04C10::OS04C10() {
  };
  for (int i = 0; i < 65; i++) {
    float fx = i / 64.0;
-    gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
+    gamma_lut_rgb.push_back((uint32_t)((10*fx)/(1+9*fx)*1023.0 + 0.5));
  }
  prepare_gamma_lut();
  linearization_lut = {
@ -78,16 +79,19 @@ OS04C10::OS04C10() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }

 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@ -52,11 +52,7 @@ float3 color_correct(float3 rgb) {
 }

 float3 apply_gamma(float3 rgb, int expo_time) {
-  return powr(rgb, 0.7);
-/*float s = log2((float)expo_time);
-  if (s < 6) {s = fmin(12.0 - s, 9.0);}
-  // log function adaptive to number of bits
-  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
+  return (10 * rgb) / (1 + 9 * rgb);
 }

 #endif
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@ -25,6 +25,7 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35

 OX03C10::OX03C10() {
  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = false;
  frame_width = 1928;
@ -80,9 +81,9 @@ OX03C10::OX03C10() {
    0x00200000, 0x00200000, 0x00200000, 0x00200000,
    0x00404080, 0x00404080, 0x00404080, 0x00404080,
    0x00804100, 0x00804100, 0x00804100, 0x00804100,
-    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
-    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
-    0x06044804, 0x06044804, 0x06044804, 0x06044804,
+    0x02014402, 0x02014402, 0x02014402, 0x02014402,
+    0x0402c804, 0x0402c804, 0x0402c804, 0x0402c804,
+    0x0805d00a, 0x0805d00a, 0x0805d00a, 0x0805d00a,
    0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
@ -90,7 +91,7 @@ OX03C10::OX03C10() {
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
  for (int i = 0; i < 884*2; i++) {
    vignetting_lut.push_back(0xff);
  }
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@ -61,7 +61,7 @@ public:
  std::vector<i2c_random_wr_payload> init_reg_array;

  uint32_t bits_per_pixel;
-  uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
+  uint32_t bayer_pattern;
  uint32_t mipi_format;
  uint32_t mclk_frequency;
  uint32_t frame_data_type;
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@ -9,7 +9,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.system.manager.process_config import managed_processes

-TEST_TIMESPAN = 30
+TEST_TIMESPAN = 10
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
@ -21,39 +21,40 @@ CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@flaky(max_runs=3)
@pytest.mark.tici
 class TestCamerad:
-  def setup_method(self):
+  @classmethod
+  def setup_class(cls):
    # run camerad and record logs
    managed_processes['camerad'].start()
    time.sleep(3)
    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}

-    self.logs = defaultdict(list)
+    cls.logs = defaultdict(list)
    start_time = time.monotonic()
    while time.monotonic()- start_time < TEST_TIMESPAN:
      for cam, s in socks.items():
-        self.logs[cam] += messaging.drain_sock(s)
+        cls.logs[cam] += messaging.drain_sock(s)
      time.sleep(0.2)
    managed_processes['camerad'].stop()

-    self.log_by_frame_id = defaultdict(list)
-    self.sensor_type = None
-    for cam, msgs in self.logs.items():
-      if self.sensor_type is None:
-        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    cls.log_by_frame_id = defaultdict(list)
+    cls.sensor_type = None
+    for cam, msgs in cls.logs.items():
+      if cls.sensor_type is None:
+        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"

      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"

      for m in msgs:
-        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)

    # strip beginning and end
    for _ in range(3):
-      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
-      del self.log_by_frame_id[mn]
-      del self.log_by_frame_id[mx]
+      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+      del cls.log_by_frame_id[mn]
+      del cls.log_by_frame_id[mx]

  def test_frame_skips(self):
    skips = {}
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@ -148,8 +148,7 @@ def hw_state_thread(end_event, hw_queue):
        except queue.Full:
          pass

-        # TODO: remove this once the config is in AGNOS
-        if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
+        if not modem_configured and HARDWARE.get_modem_version() is not None:
          cloudlog.warning("configuring modem")
          HARDWARE.configure_modem()
          modem_configured = True
@ -316,7 +315,7 @@ def hardware_thread(end_event, hw_queue) -> None:
    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)

    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI:
+    if TICI and HARDWARE.get_device_type() == "tici":
      if not os.path.isfile("/persist/comma/living-in-the-moment"):
        if not Path("/data/media").is_mount():
          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -467,8 +467,9 @@ class Tici(HardwareBase):
    cmds = []
    if manufacturer == 'Cavli Inc.':
      cmds += [
-        # use sim slot
-        'AT^SIMSWAP=1',
+        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
+        'AT$QCSIMSLEEP=0',  # disable SIM sleep
+        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable

        # ethernet config
        'AT$QCPCFG=usbNet,0',
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@ -31,7 +31,7 @@ class Proc:


 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@ -61,7 +61,7 @@ class TestEncoder:
    time.sleep(1.0)
    managed_processes['camerad'].start()

-    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))
+    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))

    # wait for loggerd to make the dir for first segment
    route_prefix_path = None
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@ -73,7 +73,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@ -91,7 +91,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@ -110,7 +110,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@ -137,7 +137,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@ -155,7 +155,7 @@ class TestUploader(UploaderTestCase):
    f_paths = self.gen_files(lock=True, boot=False)

    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    for f_path in f_paths:
@ -168,7 +168,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
    self.join_thread()

    assert len(log_handler.upload_order) == 0, "File uploaded again"
--- a/system/sentry.py
+++ b/system/sentry.py
@ -63,8 +63,6 @@ def init(project: SentryProject) -> bool:
                  max_value_length=8192,
                  environment=env)

-  build_metadata = get_build_metadata()
-
  sentry_sdk.set_user({"id": dongle_id})
  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@ -35,7 +35,7 @@ class TestLogmessaged:
    msgs = [f"abc {i}" for i in range(10)]
    for m in msgs:
      cloudlog.error(m)
-    time.sleep(3)
+    time.sleep(1)
    m = messaging.drain_sock(self.sock)
    assert len(m) == len(msgs)
    assert len(self._get_log_files()) >= 1
@ -45,7 +45,7 @@ class TestLogmessaged:
    msg = "a"*3*1024*1024
    for _ in range(n):
      cloudlog.info(msg)
-    time.sleep(3)
+    time.sleep(1)

    msgs = messaging.drain_sock(self.sock)
    assert len(msgs) == 0
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@ -51,7 +51,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
    emit static_main_win->updateProgressBar(cur, total, success);
  });
  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
+    if (type == QtDebugMsg) return;
    emit static_main_win->showMessage(msg, 2000);
  });
  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@ -1,14 +1,12 @@
 #include "tools/cabana/videowidget.h"

 #include <algorithm>
-#include <utility>

 #include <QAction>
 #include <QActionGroup>
 #include <QMenu>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
 #include <QtConcurrent>
@ -27,9 +25,7 @@ static const QColor timeline_colors[] = {

 static Replay *getReplay() {
  auto stream = qobject_cast<ReplayStream *>(can);
-  if (!stream) return nullptr;
-
-  return stream->getReplay();
+  return stream ? stream->getReplay() : nullptr;
 }

 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
@ -144,13 +140,9 @@ QWidget *VideoWidget::createCameraWidget() {
  camera_tab->setAutoHide(true);
  camera_tab->setExpanding(false);

-  QStackedLayout *stacked = new QStackedLayout();
-  stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
  cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  stacked->addWidget(alert_label = new InfoLabel(this));
-  l->addLayout(stacked);

  l->addWidget(slider = new Slider(w));
  slider->setSingleStep(0);
@ -165,16 +157,13 @@ QWidget *VideoWidget::createCameraWidget() {
  QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
    if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
  });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
+  slider->installEventFilter(cam_widget);
  return w;
 }

 void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
-  static const QString stream_names[] = {
-    [VISION_STREAM_ROAD] = "Road camera",
-    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
-    [VISION_STREAM_DRIVER] = "Driver camera"};
-
+  static const QString stream_names[] = {"Road camera", "Driver camera", "Wide road camera"};
  for (int i = 0; i < streams.size(); ++i) {
    if (camera_tab->count() <= i) {
      camera_tab->addTab(QString());
@ -189,16 +178,9 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }

 void VideoWidget::loopPlaybackClicked() {
-  auto replay = getReplay();
-  if (!replay) return;
-
-  if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
-    replay->removeFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat");
-  } else {
-    replay->addFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat-1");
-  }
+  bool is_looping = getReplay()->loop();
+  getReplay()->setLoop(!is_looping);
+  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
 }

 void VideoWidget::timeRangeChanged() {
@ -223,7 +205,9 @@ void VideoWidget::updateState() {
    if (!slider->isSliderDown()) {
      slider->setCurrentSecond(can->currentSec());
    }
-    alert_label->showAlert(slider->alertInfo(can->currentSec()));
+    if (camera_tab->count() == 0) {  //  No streams available
+      cam_widget->update();          // Manually refresh to show alert events
+    }
    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                             formatTime(slider->maximum() / slider->factor)));
  } else {
@ -239,41 +223,9 @@ void VideoWidget::updatePlayBtnState() {
 // Slider

 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
-  thumbnail_label = new InfoLabel(parent);
  setMouseTracking(true);
 }

-std::optional<Timeline::Entry> Slider::alertInfo(double seconds) {
-  return getReplay()->findAlertAtTime(seconds);
-}
-
-QPixmap Slider::thumbnail(double seconds)  {
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
-  return it != thumbnails.end() ? it.value() : QPixmap();
-}
-
-void Slider::setTimeRange(double min, double max) {
-  assert(min < max);
-  setRange(min * factor, max * factor);
-}
-
-void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
-  std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb = reader.getRoot<cereal::Event>().getThumbnail();
-      auto data = thumb.getThumbnail();
-      if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
-        QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
-        std::lock_guard lk(mutex);
-        thumbnails[thumb.getTimestampEof()] = scaled;
-      }
-    }
-  });
-  update();
-}
-
 void Slider::paintEvent(QPaintEvent *ev) {
  QPainter p(this);
  QRect r = rect().adjusted(0, 4, 0, -4);
@ -288,8 +240,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
    p.fillRect(r, color);
  };

-  auto replay = getReplay();
-  if (replay) {
+  if (auto replay = getReplay()) {
    for (const auto &entry : *replay->getTimeline()) {
      fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]);
    }
@ -319,100 +270,101 @@ void Slider::mousePressEvent(QMouseEvent *e) {
  }
 }

-void Slider::mouseMoveEvent(QMouseEvent *e) {
-  int pos = std::clamp(e->pos().x(), 0, width());
-  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
-  QPixmap thumb = thumbnail(seconds);
-  if (!thumb.isNull()) {
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
-    int y = -thumb.height() - THUMBNAIL_MARGIN;
-    thumbnail_label->showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
-  } else {
-    thumbnail_label->hide();
-  }
-  QSlider::mouseMoveEvent(e);
+// StreamCameraView
+
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, parent) {
+  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
+  fade_animation->setDuration(500);
+  fade_animation->setStartValue(0.2f);
+  fade_animation->setEndValue(0.7f);
+  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
+  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
 }

-bool Slider::event(QEvent *event) {
-  switch (event->type()) {
-    case QEvent::WindowActivate:
-    case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
-    case QEvent::FocusOut:
-    case QEvent::Leave:
-      thumbnail_label->hide();
-      break;
-    default:
-      break;
+void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
+  std::mutex mutex;
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
+    if (e.which == cereal::Event::Which::THUMBNAIL) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+      auto image_data = thumb_data.getThumbnail();
+      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+        std::lock_guard lock(mutex);
+        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
      }
-  return QSlider::event(event);
+    }
+  });
+  update();
 }

-// InfoLabel
+void StreamCameraView::paintGL() {
+  CameraWidget::paintGL();

-InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
-  setAttribute(Qt::WA_ShowWithoutActivating);
-  setAttribute(Qt::WA_TransparentForMouseEvents);
-  setVisible(false);
+  QPainter p(this);
+  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
+    drawAlert(p, rect(), *alert);
+  }
+  if (thumbnail_pt_) {
+    drawThumbnail(p);
+  }
+  if (can->isPaused()) {
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
+    p.setFont(QFont(font().family(), 16, QFont::Bold));
+    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
  }
-
-void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert) {
-  second = sec;
-  pixmap = pm;
-  alert_info = alert;
-  setGeometry(QRect(pt, pm.size()));
-  setVisible(true);
-  update();
 }

-void InfoLabel::showAlert(const std::optional<Timeline::Entry> &alert) {
-  alert_info = alert;
-  pixmap = {};
-  setVisible(alert_info.has_value());
-  update();
+QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
+  QPixmap scaled = thumb.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+  QPainter p(&scaled);
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  p.drawRect(scaled.rect());
+  if (auto alert = getReplay()->findAlertAtTime(seconds)) {
+    p.setFont(QFont(font().family(), 10));
+    drawAlert(p, scaled.rect(), *alert);
+  }
+  return scaled;
 }

-void InfoLabel::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
+void StreamCameraView::drawThumbnail(QPainter &p) {
+  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
+  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+  if (it != thumbnails.end()) {
+    const QPixmap &thumb = it.value();
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = height() - thumb.height() - THUMBNAIL_MARGIN;
+
+    p.drawPixmap(x, y, thumb);
    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-  if (!pixmap.isNull()) {
-    p.drawPixmap(0, 0, pixmap);
-    p.drawRect(rect());
-    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN, Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds));
+  }
 }
-  if (alert_info) {
-    QColor color = timeline_colors[int(alert_info->type)];
+
+void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  QColor color = timeline_colors[int(alert.type)];
  color.setAlphaF(0.5);
-    QString text = QString::fromStdString(alert_info->text1);
-    if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2);
+  QString text = QString::fromStdString(alert.text1);
+  if (!alert.text2.empty()) text += "\n" + QString::fromStdString(alert.text2);

-    if (!pixmap.isNull()) {
-      QFont font;
-      font.setPixelSize(11);
-      p.setFont(font);
-    }
-    QRect text_rect = rect().adjusted(1, 1, -1, -1);
+  QRect text_rect = rect.adjusted(1, 1, -1, -1);
  QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
  p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
  p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
 }
-}
-
-StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
-    : CameraWidget(stream_name, stream_type, parent) {
-  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
-  fade_animation->setDuration(500);
-  fade_animation->setStartValue(0.2f);
-  fade_animation->setEndValue(0.7f);
-}

-void StreamCameraView::paintGL() {
-  CameraWidget::paintGL();
-
-  if (can->isPaused()) {
-    QPainter p(this);
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
-    p.setFont(QFont(font().family(), 16, QFont::Bold));
-    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
+bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
+    update();
+  } else if (event->type() == QEvent::Leave) {
+    thumbnail_pt_ = std::nullopt;
+    update();
  }
+  return false;
 }
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@ -1,6 +1,5 @@
 #pragma once

-#include <map>
 #include <memory>
 #include <optional>
 #include <set>
@ -18,17 +17,6 @@
 #include "tools/replay/logreader.h"
 #include "tools/cabana/streams/replaystream.h"

-class InfoLabel : public QWidget {
-public:
-  InfoLabel(QWidget *parent);
-  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert);
-  void showAlert(const std::optional<Timeline::Entry> &alert);
-  void paintEvent(QPaintEvent *event) override;
-  QPixmap pixmap;
-  QString second;
-  std::optional<Timeline::Entry> alert_info;
-};
-
 class Slider : public QSlider {
  Q_OBJECT

@ -36,40 +24,30 @@ public:
  Slider(QWidget *parent);
  double currentSecond() const { return value() / factor; }
  void setCurrentSecond(double sec) { setValue(sec * factor); }
-  void setTimeRange(double min, double max);
-  std::optional<Timeline::Entry> alertInfo(double sec);
-  QPixmap thumbnail(double sec);
-  void parseQLog(std::shared_ptr<LogReader> qlog);
-
-  const double factor = 1000.0;
-
-private:
+  void setTimeRange(double min, double max) { setRange(min * factor, max * factor); }
  void mousePressEvent(QMouseEvent *e) override;
-  void mouseMoveEvent(QMouseEvent *e) override;
-  bool event(QEvent *event) override;
  void paintEvent(QPaintEvent *ev) override;
-
-  QMap<uint64_t, QPixmap> thumbnails;
-  InfoLabel *thumbnail_label;
+  const double factor = 1000.0;
 };

 class StreamCameraView : public CameraWidget {
  Q_OBJECT
-  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)

 public:
  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
  void paintGL() override;
  void showPausedOverlay() { fade_animation->start(); }
-  float overlayOpacity() const { return overlay_opacity; }
-  void setOverlayOpacity(float opacity) {
-    overlay_opacity = opacity;
-    update();
-  }
+  void parseQLog(std::shared_ptr<LogReader> qlog);

 private:
-  float overlay_opacity;
+  QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
+  void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
+  void drawThumbnail(QPainter &p);
+  bool eventFilter(QObject *obj, QEvent *event) override;
+
  QPropertyAnimation *fade_animation;
+  QMap<uint64_t, QPixmap> thumbnails;
+  std::optional<QPoint> thumbnail_pt_;
 };

 class VideoWidget : public QFrame {
@ -96,7 +74,6 @@ protected:
  ToolButton *loop_btn = nullptr;
  QToolButton *speed_btn = nullptr;
  ToolButton *skip_to_end_btn = nullptr;
-  InfoLabel *alert_label = nullptr;
  Slider *slider = nullptr;
  QTabBar *camera_tab = nullptr;
 };
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@ -5,14 +5,14 @@ import unittest # noqa: TID251

 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
-from openpilot.tools.lib.route import SegmentName
+from openpilot.tools.lib.route import SegmentRange


-def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite:
+def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
  test_suite = unittest.TestSuite()
  for test_route in routes:
    # create new test case and discover tests
-    test_case_args = {"platform": test_route.car_model, "test_route": test_route, "test_route_on_bucket": ci}
+    test_case_args = {"platform": test_route.car_model, "test_route": test_route}
    CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
    test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
  return test_suite
@ -23,16 +23,14 @@ if __name__ == "__main__":
                                               "Uses selfdrive/car/tests/test_models.py")
  parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
  parser.add_argument("--car", help="Specify car model for test route")
-  parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
  args = parser.parse_args()
  if len(sys.argv) == 1:
    parser.print_help()
    sys.exit()

-  route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
-  segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+  sr = SegmentRange(args.route_or_segment_name)

-  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
-  test_suite = create_test_models_suite([test_route], ci=args.ci)
+  test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs]
+  test_suite = create_test_models_suite(test_routes)

  unittest.TextTestRunner().run(test_suite)
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@ -24,9 +24,8 @@ function update_uv() {
 if ! command -v "uv" > /dev/null 2>&1; then
  echo "installing uv..."
  curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.cargo/env"
-  ADD_PATH_CMD=". \"$UV_BIN\""
-  eval "$ADD_PATH_CMD"
+  UV_BIN="$HOME/.local/bin"
+  PATH="$UV_BIN:$PATH"
 fi

 echo "updating uv..."
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@ -31,6 +31,8 @@ def joystickd_thread():
    CC.enabled = sm['selfdriveState'].enabled
    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
+    CC.hudControl.leadDistanceBars = 2

    actuators = CC.actuators

--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@ -12,6 +12,7 @@ def internal_source_available(url=DATA_ENDPOINT):
    hostname = urlparse(url).hostname
    port = urlparse(url).port or 80
    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
+      s.settimeout(0.5)
      s.connect((hostname, port))
    return True
  except (socket.gaierror, ConnectionRefusedError):
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@ -121,6 +121,7 @@ def report(platform, route, _description, CP, ID, maneuvers):

      buffer = io.BytesIO()
      fig.savefig(buffer, format='webp')
+      plt.close(fig)
      buffer.seek(0)
      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
      builder.append("</details>\n")
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import numpy as np
 from dataclasses import dataclass

 from cereal import messaging, car
@ -10,8 +11,11 @@ from openpilot.common.swaglog import cloudlog

@dataclass
 class Action:
-  accel: float      # m/s^2
-  duration: float   # seconds
+  accel_bp: list[float]  # m/s^2
+  time_bp: list[float]   # seconds
+
+  def __post_init__(self):
+    assert len(self.accel_bp) == len(self.time_bp)


@dataclass
@ -41,11 +45,12 @@ class Maneuver:
      return min(max(self.initial_speed - v_ego, -2.), 2.)

    action = self.actions[self._action_index]
+    action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)

    self._action_frames += 1

    # reached duration of action
-    if self._action_frames > (action.duration / DT_MDL):
+    if self._action_frames > (action.time_bp[-1] / DT_MDL):
      # next action
      if self._action_index < len(self.actions) - 1:
        self._action_index += 1
@ -60,7 +65,7 @@ class Maneuver:
      else:
        self._finished = True

-    return action.accel
+    return float(action_accel)

  @property
  def finished(self):
@ -74,47 +79,47 @@ class Maneuver:
 MANEUVERS = [
  Maneuver(
    "come to stop",
-    [Action(-0.5, 12)],
+    [Action([-0.5], [12])],
    repeat=2,
    initial_speed=5.,
  ),
  Maneuver(
    "start from stop",
-   [Action(1.5, 5)],
+    [Action([1.5], [6])],
    repeat=2,
    initial_speed=0.,
  ),
  Maneuver(
    "creep: alternate between +1m/s^2 and -1m/s^2",
    [
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
    ],
    repeat=2,
    initial_speed=0.,
  ),
  Maneuver(
    "brake step response: -1m/s^2 from 20mph",
-    [Action(-1, 3)],
+    [Action([-1], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "brake step response: -4m/s^2 from 20mph",
-    [Action(-4, 3)],
+    [Action([-4], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +1m/s^2 from 20mph",
-    [Action(1, 3)],
+    [Action([1], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +4m/s^2 from 20mph",
-    [Action(4, 3)],
+    [Action([4], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@ -60,8 +60,8 @@ public:
  inline int segmentCacheLimit() const { return segment_cache_limit; }
  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
  inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
-  inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
-  inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
+  void setLoop(bool loop) { loop ? flags_ &= ~REPLAY_FLAG_NO_LOOP : flags_ |= REPLAY_FLAG_NO_LOOP; }
+  bool loop() const { return !(flags_ & REPLAY_FLAG_NO_LOOP); }
  inline const Route* route() const { return route_.get(); }
  inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
  inline std::time_t routeDateTime() const { return route_date_time_; }
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@ -136,7 +136,7 @@ std::string download_demo_route() {
 }


-TEST_CASE("Local route") {
+TEST_CASE("Getting route") {
  std::string data_dir = download_demo_route();

  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
@ -148,16 +148,6 @@ TEST_CASE("Local route") {
  }
 }

-TEST_CASE("Remote route") {
-  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE);
-  REQUIRE(route.load());
-  REQUIRE(route.segments().size() == 13);
-  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
-    read_segment(i, route.at(i), flags);
-  }
-}
-
 TEST_CASE("seek_to") {
  QEventLoop loop;
  int seek_to = util::random_int(0, 2 * 59);
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@ -70,11 +70,11 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
      }
    }

-    callback(log);  // Notify the callback once the log is processed
-
    // Sort and finalize the timeline entries
    std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
    timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
+
+    callback(log);  // Notify the callback once the log is processed
  }
 }

--- a/uv.lock
+++ b/uv.lock
@ -145,16 +145,16 @@ wheels = [

 [[package]]
 name = "azure-core"
-version = "1.31.0"
+version = "1.32.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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