Merge remote-tracking branch 'upstream/master' into toyota-fuzzy-v2

2 years ago · 6538b2774e
parent 93bb762042 a1ca5dc484
commit 6538b2774e
99 changed files with 5909 additions and 5673 deletions
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@ -1,8 +1,13 @@
 FROM ghcr.io/commaai/openpilot-base:latest

-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab

+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
 USER batman

 RUN cd $HOME && \
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@ -3,17 +3,34 @@
 TARGET_USER=batman
 source .devcontainer/.host/.env

-# override display flag for mac
+# override display flag for mac hosts
 if [[ $HOST_OS == darwin ]]; then
  echo "Setting up DISPLAY override for macOS..."
  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
 fi
 EOF
 fi

+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
 # These lines are temporary, to remain backwards compatible with old devcontainers
 # that were running as root and therefore had their caches written as root
 sudo chown -R $TARGET_USER: /tmp/scons_cache
--- a/.devcontainer/container_post_start.sh
+++ b/.devcontainer/container_post_start.sh
@ -1,7 +1,15 @@
 #!/usr/bin/env bash

+source .devcontainer/.host/.env
+
 # setup safe directories for submodules
 SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
 for DIR in $SUBMODULE_DIRS; do 
  git config --global --add safe.directory "$PWD/$DIR"
 done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -5,7 +5,7 @@
  },
  "postCreateCommand": ".devcontainer/container_post_create.sh",
  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": ".devcontainer/host_setup.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
  "privileged": true,
  "containerEnv": {
    "DISPLAY": "${localEnv:DISPLAY}",
@ -21,7 +21,8 @@
    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
  ],
  "features": {
    "ghcr.io/devcontainers/features/common-utils:2": {
--- a/.devcontainer/host_setup.sh
+++ b/.devcontainer/host_setup.sh
@ -2,6 +2,7 @@

 # pull base image
 if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
  docker pull ghcr.io/commaai/openpilot-base:latest
 fi

@ -27,3 +28,20 @@ fi
 HOST_INFO_FILE=".devcontainer/.host/.env"
 SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
 echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
--- a/.devcontainer/host_setup.cmd
+++ b/.devcontainer/host_setup.cmd
@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
--- a/.dir-locals.el
+++ b/.dir-locals.el
@ -1,3 +0,0 @@
-((c++-mode (flycheck-gcc-language-standard . "c++11")
-           (flycheck-clang-language-standard . "c++11")
-           ))
--- a/.gitattributes
+++ b/.gitattributes
@ -1,3 +1,5 @@
+* text=auto
+
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@ -1,8 +1,6 @@
 CI / testing:
  - all:
-    - changed-files: ['.github/**']
-  - all:
-    - changed-files: ['**/test_*']
+    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']

 car: 
  - all:
@ -59,3 +57,9 @@ multilanguage:
  - all:
    - changed-files: ['selfdrive/ui/translations/**']

+research:
+  - all:
+    - changed-files: [
+        'selfdrive/modeld/models/**',
+        'selfdrive/test/process_replay/model_replay_ref_commit',
+      ]
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@ -27,6 +27,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
+    - run: git lfs pull
    - name: Build and Push docker image
      run: |
        $DOCKER_LOGIN
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -23,13 +23,13 @@ repos:
        - --maxkb=500
        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
    hooks:
    -   id: codespell
        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
        args:
        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
    hooks:
@ -41,7 +41,7 @@ repos:
        args: ['--explicit-package-bases']
        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.291
+    rev: v0.0.292
    hooks:
    -   id: ruff
        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@ -38,8 +38,7 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
    tools/install_python_dependencies.sh && \
    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    pip uninstall -y poetry
+    rm -rf /home/$USER/.cache

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,18 +1,15 @@
-Version 0.9.6 (2023-XX-XX)
-========================
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Kia Optima Hybrid 2019 support
-
-Version 0.9.5 (2023-09-27)
+Version 0.9.5 (2023-XX-XX)
 ========================
 * New driving model
  * Improved navigate on openpilot performance using navigation instructions as an additional model input
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
 * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
 * Lexus IS 2023 support thanks to L3R5!

 Version 0.9.4 (2023-07-27)
--- a/common/params.cc
+++ b/common/params.cc
@ -181,7 +181,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
    {"OpenpilotEnabledToggle", PERSISTENT},
    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaLogState", PERSISTENT},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
    {"Passive", PERSISTENT},
    {"PrimeType", PERSISTENT},
--- a/common/transformations/README.md
+++ b/common/transformations/README.md
@ -11,7 +11,7 @@ by generating a rotation matrix and multiplying.
 | :-------------: |:-------------:| :-----:| :----: |
 | Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. |
 | ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83. <br> This is the global Mesh3D frame. |
-| NED | [North, East, Down] | meters | Relative to earth's surface, useful for vizualizing. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. |
 | Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame. <br> Relative to camera, **not imu.** <br> ![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)|
 | Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in. <br> More details below. <br>|
 | Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road. <br> More details below. <br>|
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.9.6"
+#define COMMA_VERSION "0.9.5"
--- a/conftest.py
+++ b/conftest.py
@ -1,10 +1,28 @@
+import os
 import pytest

 from openpilot.common.prefix import OpenpilotPrefix


@pytest.fixture(scope="function", autouse=True)
-def global_setup_and_teardown():
+def openpilot_function_fixture():
+  starting_env = dict(os.environ)
+
  # setup a clean environment for each test
  with OpenpilotPrefix():
    yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+# If you use setUpClass, the environment variables won't be cleared properly,
+# so we need to hook both the function and class pytest fixtures
+@pytest.fixture(scope="class", autouse=True)
+def openpilot_class_fixture():
+  starting_env = dict(os.environ)
+
+  yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -136,7 +136,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|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 A 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=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
@ -168,7 +168,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator 2020-21|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 2020-21">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|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 J533 connector<br>- 1 USB-C coupler<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 2020-23">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 2017-23|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 J533 connector<br>- 1 USB-C coupler<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 2017-23">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 2022-23|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 2022-23">Buy Here</a></sub></details>||
+|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>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 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-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@ -210,7 +210,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|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=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|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=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|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=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|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=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2021-24|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=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 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=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 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=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 62db60595bb5129cc2f295fdc42f2cda473777fd
+Subproject commit 6bf6ba773ea4174c702ac9c4af4e8a6fd3cef655
--- a/poetry.lock
+++ b/poetry.lock
@ -370,15 +370,18 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]

 [[package]]
 name = "babel"
-version = "2.12.1"
+version = "2.13.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]

+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
 [[package]]
 name = "breathe"
 version = "4.35.0"
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 description = "Foreign Function Interface for Python calling C code."
 optional = false
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 [package.dependencies]
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 [[package]]
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 [[package]]
 name = "identify"
-version = "2.5.29"
+version = "2.5.30"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
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 [[package]]
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 version = "0.6.1"
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 [package.source]
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 [[package]]
 name = "mpld3"
@ -2358,13 +2366,13 @@ tests = ["pytest (>=4.6)"]

 [[package]]
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+version = "1.24.1"
 description = "The Microsoft Authentication Library (MSAL) for Python library"
 optional = false
 python-versions = ">=2.7"
 files = [
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 [package.dependencies]
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 [[package]]
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+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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 [package.dependencies]
@ -2830,18 +2838,18 @@ numpy = [

 [[package]]
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-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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 [package.dependencies]
@ -2856,13 +2864,13 @@ numpy = [

 [[package]]
 name = "packaging"
-version = "23.1"
+version = "23.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
 files = [
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 [[package]]
@ -3149,13 +3157,13 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa

 [[package]]
 name = "platformdirs"
-version = "3.10.0"
+version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.extras]
@ -3179,13 +3187,13 @@ testing = ["pytest", "pytest-benchmark"]

 [[package]]
 name = "polyline"
-version = "2.0.0"
+version = "2.0.1"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.extras]
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 colorama = "*"
 pytest = ">=7.0"

+[[package]]
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+version = "1.1.0"
+description = "Randomise the order in which pytest tests are run with some control over the randomness"
+optional = false
+python-versions = ">=3.5.0"
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+
+[package.dependencies]
+pytest = ">=3.0.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@ -4185,28 +4205,28 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]

 [[package]]
 name = "ruff"
-version = "0.0.291"
+version = "0.0.292"
 description = "An extremely fast Python linter, written in Rust."
 optional = false
 python-versions = ">=3.7"
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+    {file = "ruff-0.0.292.tar.gz", hash = "sha256:1093449e37dd1e9b813798f6ad70932b57cf614e5c2b5c51005bf67d55db33ac"},
 ]

 [[package]]
@ -4288,24 +4308,24 @@ resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"

 [[package]]
 name = "seaborn"
-version = "0.12.2"
+version = "0.13.0"
 description = "Statistical data visualization"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "seaborn-0.12.2-py3-none-any.whl", hash = "sha256:ebf15355a4dba46037dfd65b7350f014ceb1f13c05e814eda2c9f5fd731afc08"},
-    {file = "seaborn-0.12.2.tar.gz", hash = "sha256:374645f36509d0dcab895cba5b47daf0586f77bfe3b36c97c607db7da5be0139"},
+    {file = "seaborn-0.13.0-py3-none-any.whl", hash = "sha256:70d740828c48de0f402bb17234e475eda687e3c65f4383ea25d0cc4728f7772e"},
+    {file = "seaborn-0.13.0.tar.gz", hash = "sha256:0e76abd2ec291c655b516703c6a022f0fd5afed26c8e714e8baef48150f73598"},
 ]

 [package.dependencies]
-matplotlib = ">=3.1,<3.6.1 || >3.6.1"
-numpy = ">=1.17,<1.24.0 || >1.24.0"
-pandas = ">=0.25"
+matplotlib = ">=3.3,<3.6.1 || >3.6.1"
+numpy = ">=1.20,<1.24.0 || >1.24.0"
+pandas = ">=1.2"

 [package.extras]
 dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest-cov", "pytest-xdist"]
-docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
-stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
+docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx (<6.0.0)", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
+stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]

 [[package]]
 name = "sentry-sdk"
@ -4451,23 +4471,24 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar

 [[package]]
 name = "setuptools-scm"
-version = "8.0.3"
+version = "8.0.4"
 description = "the blessed package to manage your versions by scm tags"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-scm-8.0.3.tar.gz", hash = "sha256:0169fd70197efda2f8c4d0b2a7a3d614431b488116f37b79d031e9e7ec884d8c"},
-    {file = "setuptools_scm-8.0.3-py3-none-any.whl", hash = "sha256:813822234453438a13c78d05c8af29918fbc06f88efb33d38f065340bbb48c39"},
+    {file = "setuptools-scm-8.0.4.tar.gz", hash = "sha256:b5f43ff6800669595193fd09891564ee9d1d7dcb196cab4b2506d53a2e1c95c7"},
+    {file = "setuptools_scm-8.0.4-py3-none-any.whl", hash = "sha256:b47844cd2a84b83b3187a5782c71128c28b4c94cad8bfb871da2784a5cb54c4f"},
 ]

 [package.dependencies]
 packaging = ">=20"
 setuptools = "*"
+typing-extensions = "*"

 [package.extras]
 docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
 rich = ["rich"]
-test = ["pytest", "rich", "virtualenv (>20)"]
+test = ["build", "pytest", "rich", "wheel"]

 [[package]]
 name = "shapely"
@ -4788,19 +4809,6 @@ files = [
    {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]

-[[package]]
-name = "spidev2"
-version = "0.9.0"
-description = "Pure-python interface to Linux spidev."
-optional = false
-python-versions = "*"
-files = [
-    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
-]
-
-[package.dependencies]
-ioctl-opt = "*"
-
 [[package]]
 name = "sympy"
 version = "1.12"
@ -4941,17 +4949,17 @@ files = [

 [[package]]
 name = "types-requests"
-version = "2.31.0.6"
+version = "2.31.0.7"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "types-requests-2.31.0.6.tar.gz", hash = "sha256:cd74ce3b53c461f1228a9b783929ac73a666658f223e28ed29753771477b3bd0"},
-    {file = "types_requests-2.31.0.6-py3-none-any.whl", hash = "sha256:a2db9cb228a81da8348b49ad6db3f5519452dd20a9c1e1a868c83c5fe88fd1a9"},
+    {file = "types-requests-2.31.0.7.tar.gz", hash = "sha256:4d930dcabbc2452e3d70728e581ac4ac8c2d13f62509ad9114673f542af8cb4e"},
+    {file = "types_requests-2.31.0.7-py3-none-any.whl", hash = "sha256:39844effefca88f4f824dcdc4127b813d3b86a56b2248d3d1afa58832040d979"},
 ]

 [package.dependencies]
-types-urllib3 = "*"
+urllib3 = ">=2"

 [[package]]
 name = "types-tabulate"
@ -4964,17 +4972,6 @@ files = [
    {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
 ]

-[[package]]
-name = "types-urllib3"
-version = "1.26.25.14"
-description = "Typing stubs for urllib3"
-optional = false
-python-versions = "*"
-files = [
-    {file = "types-urllib3-1.26.25.14.tar.gz", hash = "sha256:229b7f577c951b8c1b92c1bc2b2fdb0b49847bd2af6d1cc2a2e3dd340f3bda8f"},
-    {file = "types_urllib3-1.26.25.14-py3-none-any.whl", hash = "sha256:9683bbb7fb72e32bfe9d2be6e04875fbe1b3eeec3cbb4ea231435aa7fd6b4f0e"},
-]
-
 [[package]]
 name = "typing-extensions"
 version = "4.8.0"
@ -4999,13 +4996,13 @@ files = [

 [[package]]
 name = "urllib3"
-version = "2.0.5"
+version = "2.0.6"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "urllib3-2.0.5-py3-none-any.whl", hash = "sha256:ef16afa8ba34a1f989db38e1dbbe0c302e4289a47856990d0682e374563ce35e"},
-    {file = "urllib3-2.0.5.tar.gz", hash = "sha256:13abf37382ea2ce6fb744d4dad67838eec857c9f4f57009891805e0b5e123594"},
+    {file = "urllib3-2.0.6-py3-none-any.whl", hash = "sha256:7a7c7003b000adf9e7ca2a377c9688bbc54ed41b985789ed576570342a375cd2"},
+    {file = "urllib3-2.0.6.tar.gz", hash = "sha256:b19e1a85d206b56d7df1d5e683df4a7725252a964e3993648dd0fb5a1c157564"},
 ]

 [package.extras]
@ -5171,4 +5168,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "808489f6658d63643587b06a7881e0f58fc8a97af34c1478a20342e916204a68"
+content-hash = "173a9329d8f42b01b7d62684fadb257e604fda7e584bfcdd4fcdf71ae6aa99f9"
--- a/pyproject.toml
+++ b/pyproject.toml
@ -90,7 +90,6 @@ numpy = "*"
 onnx = ">=1.14.0"
 onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
 onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "*"
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@ -109,11 +108,9 @@ setproctitle = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
-spidev2 = { version = "*", platform = "linux" }
 sympy = "*"
 timezonefinder = "*"
 tqdm = "*"
-urllib3 = "*"
 websocket_client = "*"
 polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
@ -124,7 +121,6 @@ av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
@ -133,7 +129,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@ -152,6 +148,7 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+pytest-random-order = "*"
 ruff = "*"
 scipy = "*"
 sphinx = "*"
@ -167,6 +164,11 @@ types-requests = "*"
 types-tabulate = "*"
 pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

+[tool.poetry.group.carla]
+optional = true
+
+[tool.poetry.group.carla.dependencies]
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }

 [build-system]
 requires = ["poetry-core"]
--- a/release/files_common
+++ b/release/files_common
@ -71,7 +71,6 @@ selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
-selfdrive/rtshield.py
 selfdrive/statsd.py

 system/logmessaged.py
@ -201,8 +200,6 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*

-selfdrive/hardware
-
 system/__init__.py

 system/hardware/__init__.py
--- a/scripts/dump_pll.c
+++ b/scripts/dump_pll.c
@ -1,59 +0,0 @@
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-void hexdump(uint32_t *d, int l) {
-  for (int i = 0; i < l; i++) {
-    if (i%0x10 == 0 && i != 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-/* Power cluster primary PLL */
-#define C0_PLL_MODE         0x0
-#define C0_PLL_L_VAL        0x4
-#define C0_PLL_ALPHA        0x8
-#define C0_PLL_USER_CTL    0x10
-#define C0_PLL_CONFIG_CTL  0x18
-#define C0_PLL_CONFIG_CTL_HI 0x1C
-#define C0_PLL_STATUS      0x28
-#define C0_PLL_TEST_CTL_LO 0x20
-#define C0_PLL_TEST_CTL_HI 0x24
-
-/* Power cluster alt PLL */
-#define C0_PLLA_MODE        0x100
-#define C0_PLLA_L_VAL       0x104
-#define C0_PLLA_ALPHA       0x108
-#define C0_PLLA_USER_CTL    0x110
-#define C0_PLLA_CONFIG_CTL  0x118
-#define C0_PLLA_STATUS      0x128
-#define C0_PLLA_TEST_CTL_LO 0x120
-
-#define APC_DIAG_OFFSET 0x48
-#define CLK_CTL_OFFSET 0x44
-#define MUX_OFFSET 0x40
-#define MDD_DROOP_CODE 0x7c
-#define SSSCTL_OFFSET 0x160
-#define PSCTL_OFFSET 0x164
-
-int main() {
-  int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
-  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
-  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
-  while (1) {
-    printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
-        mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],
-        mb[C0_PLL_USER_CTL/4], mb[C0_PLL_CONFIG_CTL/4], mb[C0_PLL_CONFIG_CTL_HI/4],
-        mb[C0_PLL_STATUS/4], mb[C0_PLL_TEST_CTL_LO/4], mb[C0_PLL_TEST_CTL_HI/4]);
-    printf("  MUX_OFFSET:%x CLK_CTL_OFFSET:%x APC_DIAG_OFFSET:%x MDD_DROOP_CODE:%x\n",
-        mb[MUX_OFFSET/4], mb[CLK_CTL_OFFSET/4], mb[APC_DIAG_OFFSET/4], mb[MDD_DROOP_CODE/4]);
-    printf("  PLLA MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x STATUS:%x TEST_CTL_LO:%x SSSCTL_OFFSET:%x PSCTL_OFFSET:%x\n",
-        mb[C0_PLLA_MODE/4], mb[C0_PLLA_L_VAL/4], mb[C0_PLLA_ALPHA/4], mb[C0_PLLA_USER_CTL/4],
-        mb[C0_PLLA_CONFIG_CTL/4], mb[C0_PLLA_STATUS/4], mb[C0_PLLA_TEST_CTL_LO/4],
-        mb[SSSCTL_OFFSET/4], mb[PSCTL_OFFSET/4]);
-    usleep(1000*100);
-  }
-}
-
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths


 # TODO: use socket constant when mypy recognizes this as a valid attribute
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -21,7 +21,7 @@ from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths


 class TestAthenadMethods(unittest.TestCase):
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@ -3,7 +3,6 @@
 import os
 import usb1
 import time
-import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
@ -24,51 +23,6 @@ def get_expected_signature(panda: Panda) -> bytes:
    cloudlog.exception("Error computing expected signature")
    return b""

-def read_panda_logs(panda: Panda) -> None:
-  """
-    Forward panda logs to the cloud
-  """
-
-  params = Params()
-  serial = panda.get_usb_serial()
-
-  log_state = {}
-  try:
-    ls = params.get("PandaLogState")
-    if ls is not None:
-      l = json.loads(ls)
-      for k, v in l.items():
-        if isinstance(k, str) and isinstance(v, int):
-          log_state[k] = v
-  except (TypeError, json.JSONDecodeError):
-    cloudlog.exception("failed to parse PandaLogState")
-
-  try:
-    if serial in log_state:
-      logs = panda.get_logs(last_id=log_state[serial])
-    else:
-      logs = panda.get_logs(get_all=True)
-
-    # truncate logs to 100 entries if needed
-    MAX_LOGS = 100
-    if len(logs) > MAX_LOGS:
-      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
-      logs = logs[-MAX_LOGS:]
-
-    # update log state
-    if len(logs) > 0:
-      log_state[serial] = logs[-1]["id"]
-
-    for log in logs:
-      if log['timestamp'] is not None:
-        log['timestamp'] = log['timestamp'].isoformat()
-      cloudlog.event("panda_log", **log, serial=serial)
-
-    params.put("PandaLogState", json.dumps(log_state))
-  except Exception:
-    cloudlog.exception(f"Error getting logs for panda {serial}")
-
-
 def flash_panda(panda_serial: str) -> Panda:
  try:
    panda = Panda(panda_serial)
@ -191,8 +145,6 @@ def main() -> NoReturn:
          params.put_bool("PandaHeartbeatLost", True)
          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())

-        read_panda_logs(panda)
-
        if first_run:
          if panda.is_internal():
            # update time from RTC
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@ -6,11 +6,9 @@ import unittest
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
-from openpilot.common.params import Params
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.test.helpers import phone_only
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.tici.pins import GPIO

 HERE = os.path.dirname(os.path.realpath(__file__))
@ -19,8 +17,11 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 class TestPandad(unittest.TestCase):

  def setUp(self):
-    self.params = Params()
-    self.start_log_state = self.params.get("PandaLogState")
+    if PC:
+      raise unittest.SkipTest("needs a panda")
+    # ensure panda is up
+    if len(Panda.list()) == 0:
+      self._run_test(60)

  def tearDown(self):
    managed_processes['pandad'].stop()
@ -39,10 +40,6 @@ class TestPandad(unittest.TestCase):
    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
      raise Exception("boardd failed to start")

-    # simple check that we did something with the panda logs
-    cur_log_state = self.params.get("PandaLogState")
-    assert cur_log_state != self.start_log_state
-
  def _go_to_dfu(self):
    HARDWARE.recover_internal_panda()
    assert Panda.wait_for_dfu(None, 10)
@ -71,19 +68,16 @@ class TestPandad(unittest.TestCase):

    self._run_test(45)

-  @phone_only
  def test_in_dfu(self):
    HARDWARE.recover_internal_panda()
    self._run_test(60)

-  @phone_only
  def test_in_bootstub(self):
    with Panda() as p:
      p.reset(enter_bootstub=True)
      assert p.bootstub
    self._run_test()

-  @phone_only
  def test_internal_panda_reset(self):
    gpio_init(GPIO.STM_RST_N, True)
    gpio_set(GPIO.STM_RST_N, 1)
@ -93,28 +87,23 @@ class TestPandad(unittest.TestCase):

    assert any(Panda(s).is_internal() for s in Panda.list())

-  @phone_only
  def test_best_case_startup_time(self):
    # run once so we're setup
-    self._run_test()
+    self._run_test(60)

    # should be fast this time
    self._run_test(8)

-  @phone_only
  def test_protocol_version_check(self):
    if HARDWARE.get_device_type() == 'tici':
-      self.skipTest("")
-
+      raise unittest.SkipTest("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)

-  @phone_only
  def test_release_to_devel_bootstub(self):
    self._flash_bootstub_and_test(None)

-  @phone_only
  def test_recover_from_bad_bootstub(self):
    self._go_to_dfu()
    with PandaDFU(None) as pd:
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -1,3 +1,4 @@
+from enum import StrEnum
 from typing import Dict

 from cereal import car
@ -21,7 +22,7 @@ class CarControllerParams:
    pass


-class CAR:
+class CAR(StrEnum):
  BODY = "COMMA BODY"


--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -66,9 +66,8 @@ def load_interfaces(brand_names):
 def _get_interface_names() -> Dict[str, List[str]]:
  # returns a dict of brand name and its respective models
  brand_names = {}
-  for brand_name, model_names in get_interface_attr("CAR").items():
-    model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
-    brand_names[brand_name] = model_names
+  for brand_name, brand_models in get_interface_attr("CAR").items():
+    brand_names[brand_name] = [model.value for model in brand_models]

  return brand_names

--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -1,5 +1,5 @@
 # ruff: noqa: E501
-from enum import IntFlag
+from enum import IntFlag, StrEnum
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union

@ -16,7 +16,7 @@ class ChryslerFlags(IntFlag):
  HIGHER_MIN_STEERING_SPEED = 1


-class CAR:
+class CAR(StrEnum):
  # Chrysler
  PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
  PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -1,6 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -40,7 +40,7 @@ class CarControllerParams:
    pass


-class CAR:
+class CAR(StrEnum):
  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
  ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
  EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -61,7 +61,7 @@ class CarControllerParams:
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]


-class CAR:
+class CAR(StrEnum):
  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
  VOLT = "CHEVROLET VOLT PREMIER 2017"
  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Union

 from cereal import car
@ -72,7 +72,7 @@ VISUAL_HUD = {
 }


-class CAR:
+class CAR(StrEnum):
  ACCORD = "HONDA ACCORD 2018"
  ACCORDH = "HONDA ACCORD HYBRID 2018"
  CIVIC = "HONDA CIVIC 2016"
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -121,6 +121,11 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.385
      if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
+      ret.tireStiffnessFactor = 0.65
    elif candidate == CAR.VELOSTER:
      ret.mass = 2917. * CV.LB_TO_KG
      ret.wheelbase = 2.80
@ -197,11 +202,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.9
      ret.steerRatio = 16.
      ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
    elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
      ret.mass = 1767.  # SX Prestige trim support only
      ret.wheelbase = 2.756
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -1,7 +1,7 @@
 # ruff: noqa: E501
 import re
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Set, Tuple, Union

 from cereal import car
@ -67,7 +67,7 @@ class HyundaiFlags(IntFlag):
  CANFD_HDA2_ALT_STEERING = 512


-class CAR:
+class CAR(StrEnum):
  # Hyundai
  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
@ -252,8 +252,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
  CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                   car_parts=CarParts.common([CarHarness.hyundai_e])),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -400,8 +400,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
  # electric or specify electric in the platform code.
  # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
-  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
-  candidates = set()
+  fuzzy_platform_blacklist = {str(car) for car in set(CANFD_CAR - EV_CAR)}
+  candidates: Set[str] = set()

  for candidate, fws in FW_VERSIONS.items():
    # Keep track of ECUs which pass all checks (platform codes, within date range)
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -25,7 +26,7 @@ class CarControllerParams:
    pass


-class CAR:
+class CAR(StrEnum):
  CX5 = "MAZDA CX-5"
  CX9 = "MAZDA CX-9"
  MAZDA3 = "MAZDA 3"
@ -46,7 +47,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
 }


@ -97,6 +98,7 @@ FW_VERSIONS = {
      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x706, None): [
@ -110,6 +112,7 @@ FW_VERSIONS = {
      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
  CAR.CX5: {
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@ -1,9 +1,10 @@
+from enum import StrEnum
 from typing import Dict, List, Optional, Union

 from openpilot.selfdrive.car.docs_definitions import CarInfo


-class CAR:
+class CAR(StrEnum):
  MOCK = 'mock'


--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Optional, Union

 from cereal import car
@ -21,7 +22,7 @@ class CarControllerParams:
    pass


-class CAR:
+class CAR(StrEnum):
  XTRAIL = "NISSAN X-TRAIL 2017"
  LEAF = "NISSAN LEAF 2018"
  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -63,7 +63,7 @@ class CanBus:
  camera = 2


-class CAR:
+class CAR(StrEnum):
  # Global platform
  ASCENT = "SUBARU ASCENT LIMITED 2019"
  ASCENT_2023 = "SUBARU ASCENT 2023"
@ -114,7 +114,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
    SubaruCarInfo("Subaru XV 2020-21"),
  ],
  # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from collections import namedtuple
+from enum import StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -12,7 +13,7 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])


-class CAR:
+class CAR(StrEnum):
  AP1_MODELS = 'TESLA AP1 MODEL S'
  AP2_MODELS = 'TESLA AP2 MODEL S'

--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -1,7 +1,7 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Set, Union

 from cereal import car
@ -46,7 +46,7 @@ class ToyotaFlags(IntFlag):
  DISABLE_RADAR = 4


-class CAR:
+class CAR(StrEnum):
  # Toyota
  ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
  ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
@ -361,7 +361,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
      bus=0,
    ),
    Request(
@ -1694,6 +1694,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x700, None): [
      b'\x01896634A88100\x00\x00\x00\x00',
      b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R03100\x00\x00\x00\x00',
@ -1793,6 +1794,7 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15264283200\x00\x00\x00\x00',
      b'\x01F15264283300\x00\x00\x00\x00',
+      b'\x01F152642F1000\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
@ -1803,15 +1805,17 @@ FW_VERSIONS = {
      b'\x01896634AF0000\x00\x00\x00\x00',
    ],
    (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
      b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
      b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
-      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+      b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R03100\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
    ],
  },
  CAR.SIENNA: {
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union

 from cereal import car
@ -114,7 +114,7 @@ class CANBUS:
 # FW_VERSIONS for that existing CAR.
 # Exception: SEAT Leon and SEAT Ateca share a chassis code

-class CAR:
+class CAR(StrEnum):
  ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
  ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
  CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
@ -774,15 +774,18 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906027NJ\xf1\x891445',
      b'\xf1\x8704E906027NP\xf1\x891286',
+      b'\xf1\x8705E906013BD\xf1\x892496',
      b'\xf1\x8705E906013E \xf1\x891624',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158EM\xf1\x893812',
      b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158DN\xf1\x893946',
      b'\xf1\x8709S927158FF\xf1\x893876',
    ],
    (Ecu.srs, 0x715, None): [
      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
      b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
    ],
    (Ecu.eps, 0x712, None): [
--- a/selfdrive/debug/auto_fingerprint.py
+++ b/selfdrive/debug/auto_fingerprint.py
@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
  b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
    default_config=b"\x00\x00\x00\x01\x00\x00",
    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }

 if __name__ == "__main__":
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@ -144,6 +144,7 @@ if __name__ == "__main__":
      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
    except (NegativeResponseError, MessageTimeoutError):
      print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
      quit()

    try:
--- a/selfdrive/hardware
+++ b/selfdrive/hardware
@ -1 +0,0 @@
-../system/hardware/
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -111,7 +111,7 @@ def main():

  while not vipc_client_main.connect(False):
    time.sleep(0.1)
-  while not vipc_client_extra.connect(False):
+  while use_extra_client and not vipc_client_extra.connect(False):
    time.sleep(0.1)

  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
--- 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:af5b47a763454cd56a9f16ebe51dbcf54a001898444a9557b39cedb2303d4da3
-size 52272357
+oid sha256:18e53fa5d0f9a185833d50fa0d777725ca715460062f3a2c050847588525d87c
+size 52272467
--- a/selfdrive/rtshield.py
+++ b/selfdrive/rtshield.py
@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-from typing import NoReturn
-
-from openpilot.common.realtime import set_core_affinity, set_realtime_priority
-
-# RT shield - ensure CPU 3 always remains available for RT processes
-#   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
-#   get scheduled onto CPU 3, but it's always preemptible by realtime
-#   openpilot processes
-
-def main() -> NoReturn:
-  set_core_affinity([int(os.getenv("CORE", "3")), ])
-  set_realtime_priority(1)
-
-  while True:
-    time.sleep(0.000001)
-
-if __name__ == "__main__":
-  main()
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@ -5,6 +5,7 @@ import capnp
 import numbers
 import dictdiffer
 from collections import Counter
+from typing import Dict

 from openpilot.tools.lib.logreader import LogReader

@ -89,7 +90,52 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
  return diff


+def format_diff(results, log_paths, ref_commit):
+  diff1, diff2 = "", ""
+  diff2 += f"***** tested against commit {ref_commit} *****\n"
+
+  failed = False
+  for segment, result in list(results.items()):
+    diff1 += f"***** results for segment {segment} *****\n"
+    diff2 += f"***** differences for segment {segment} *****\n"
+
+    for proc, diff in list(result.items()):
+      # long diff
+      diff2 += f"*** process: {proc} ***\n"
+      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
+      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
+
+      # short diff
+      diff1 += f"    {proc}\n"
+      if isinstance(diff, str):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        diff1 += f"        {diff}\n"
+        failed = True
+      elif len(diff):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+
+        cnt: Dict[str, int] = {}
+        for d in diff:
+          diff2 += f"\t{str(d)}\n"
+
+          k = str(d[1])
+          cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+        for k, v in sorted(cnt.items()):
+          diff1 += f"        {k}: {v}\n"
+        failed = True
+  return diff1, diff2, failed
+
+
 if __name__ == "__main__":
  log1 = list(LogReader(sys.argv[1]))
  log2 = list(LogReader(sys.argv[2]))
-  print(compare_logs(log1, log2, sys.argv[3:]))
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
+  log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
+  diff1, diff2, failed = format_diff(results, log_paths, None)
+
+  print(diff2)
+  print(diff1)
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@ -2,17 +2,95 @@ from collections import defaultdict

 from cereal import messaging
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.manager.process_config import managed_processes
+from panda import Panda


-def migrate_all(lr, old_logtime=False, camera_states=False):
+def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
  msgs = migrate_sensorEvents(lr, old_logtime)
  msgs = migrate_carParams(msgs, old_logtime)
+  if manager_states:
+    msgs = migrate_managerState(msgs)
+  if panda_states:
+    msgs = migrate_pandaStates(msgs)
+    msgs = migrate_peripheralState(msgs)
  if camera_states:
    msgs = migrate_cameraStates(msgs)

  return msgs


+def migrate_managerState(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "managerState":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = msg.as_builder()
+    new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_pandaStates(lr):
+  all_msgs = []
+  # TODO: safety param migration should be handled automatically
+  safety_param_migration = {
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+  }
+
+  # Migrate safety param base on carState
+  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  assert CP is not None, "carParams message not found"
+  if CP.carFingerprint in safety_param_migration:
+    safety_param = safety_param_migration[CP.carFingerprint]
+  elif len(CP.safetyConfigs):
+    safety_param = CP.safetyConfigs[0].safetyParam
+    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+  else:
+    safety_param = CP.safetyParamDEPRECATED
+
+  for msg in lr:
+    if msg.which() == 'pandaStateDEPRECATED':
+      new_msg = messaging.new_message('pandaStates', 1)
+      new_msg.valid = msg.valid
+      new_msg.logMonoTime = msg.logMonoTime
+      new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
+      new_msg.pandaStates[0].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    elif msg.which() == 'pandaStates':
+      new_msg = msg.as_builder()
+      new_msg.pandaStates[-1].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    else:
+      all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_peripheralState(lr):
+  if any(msg.which() == "peripheralState" for msg in lr):
+    return lr
+
+  all_msg = []
+  for msg in lr:
+    all_msg.append(msg)
+    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+      continue
+
+    new_msg = messaging.new_message("peripheralState")
+    new_msg.logMonoTime = msg.logMonoTime
+    all_msg.append(new_msg.as_reader())
+
+  return all_msg
+
+
 def migrate_cameraStates(lr):
  all_msgs = []
  frame_to_encode_id = defaultdict(dict)
@ -42,6 +120,10 @@ def migrate_cameraStates(lr):
    new_camera_state = getattr(new_msg, new_msg.which())
    new_camera_state.frameId = encode_id
    new_camera_state.encodeId = encode_id
+    # timestampSof was added later so it might be missing on some old segments
+    if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000:
+      new_camera_state.timestampSof = camera_state.timestampEof - 18000000
+    else:
      new_camera_state.timestampSof = camera_state.timestampSof
    new_camera_state.timestampEof = camera_state.timestampEof
    new_msg.logMonoTime = msg.logMonoTime
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -10,8 +10,7 @@ from openpilot.common.params import Params
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
-from openpilot.selfdrive.test.process_replay.test_processes import format_diff
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@ -1 +1 @@
-3bb23e270a3a7219cfeedadd8d085c32fc571c0d
+ed2d58ec217fafb7b6b8f5e27ec622acd9e734f4
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -204,7 +204,7 @@ class ProcessContainer:
  def _setup_vision_ipc(self, all_msgs):
    assert len(self.cfg.vision_pubs) != 0

-    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
+    device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")

    vipc_server = VisionIpcServer("camerad")
    streams_metas = available_streams(all_msgs)
@ -214,6 +214,7 @@ class ProcessContainer:
    vipc_server.start_listener()

    self.vipc_server = vipc_server
+    self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs]

  def _start_process(self):
    if self.capture is not None:
@ -393,9 +394,8 @@ class ModeldCameraSyncRcvCallback:
    self.is_dual_camera = True

  def __call__(self, msg, cfg, frame):
-    if msg.which() == "initData":
-      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
-    elif msg.which() == "roadCameraState":
+    self.is_dual_camera = len(cfg.vision_pubs) == 2
+    if msg.which() == "roadCameraState":
      self.road_present = True
    elif msg.which() == "wideRoadCameraState":
      self.wide_road_present = True
@ -653,7 +653,10 @@ def replay_process(
  else:
    cfgs = [cfg]

-  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  all_msgs = migrate_all(lr, old_logtime=True,
+                         manager_states=True,
+                         panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs),
+                         camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
  process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)

  if return_all_logs:
@ -681,14 +684,13 @@ def _replay_multi_process(
    env_config = generate_environ_config(CP=CP)

  # validate frs and vision pubs
-  for cfg in cfgs:
-    if len(cfg.vision_pubs) == 0:
-      continue
-
+  all_vision_pubs = [pub for cfg in cfgs for pub in cfg.vision_pubs]
+  if len(all_vision_pubs) != 0:
    assert frs is not None, "frs must be provided when replaying process using vision streams"
-    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
-                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
-    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+    assert all(meta_from_camera_state(st) is not None for st in all_vision_pubs), \
+                                                          f"undefined vision stream spotted, probably misconfigured process: (vision pubs: {all_vision_pubs})"
+    required_vision_pubs = {m.camera_state for m in available_streams(lr)} & set(all_vision_pubs)
+    assert all(st in frs for st in required_vision_pubs), f"frs for this process must contain following vision streams: {required_vision_pubs}"

  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
  log_msgs = []
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@ -6,7 +6,7 @@ import capnp

 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple

-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                   check_openpilot_enabled, get_custom_params_from_lr
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
@ -17,62 +17,68 @@ from openpilot.tools.lib.helpers import save_log

 def regen_segment(
  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
-  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
-  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
  all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
  custom_params = get_custom_params_from_lr(all_msgs)

-  if daemons != "all":
-    if isinstance(daemons, str):
-      raise ValueError(f"Invalid value for daemons: {daemons}")
-
-    replayed_processes = []
-    for d in daemons:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("Replayed processes:", [p.proc_name for p in processes])
  print("\n\n", "*"*30, "\n\n", sep="")

-  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
+  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)

  return output_logs


-def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
+def setup_data_readers(
+    route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
+) -> Tuple[LogReader, Dict[str, Any]]:
  if use_route_meta:
    r = Route(route)
    lr = LogReader(r.log_paths()[sidx])
    frs = {}
-    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+    if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
      frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
-    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
-      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
-    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+    if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
      frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
  else:
    lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    frs = {
-      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
-      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
-    }
+    frs = {}
+    if needs_road_cam:
+      frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
      if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
        frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    if needs_driver_cam:
+      frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")

  return lr, frs


 def regen_and_save(
-  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
 ) -> str:
-  lr, frs = setup_data_readers(route, sidx, use_route_meta)
-  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
+  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
+
+  if processes != "all":
+    if isinstance(processes, str):
+      raise ValueError(f"Invalid value for processes: {processes}")
+
+    replayed_processes = []
+    for d in processes:
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
+
+  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
+  lr, frs = setup_data_readers(route, sidx, use_route_meta,
+                               needs_driver_cam="driverCameraState" in all_vision_pubs,
+                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
+  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)

  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
  rel_log_dir = os.path.relpath(log_dir)
@ -110,5 +116,5 @@ if __name__ == "__main__":
  args = parser.parse_args()

  blacklist_set = set(args.blacklist_procs)
-  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
+  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -9,7 +9,7 @@ from typing import Any, DefaultDict, Dict

 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.filereader import FileReader
@ -115,45 +115,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
    return str(e), log_msgs


-def format_diff(results, log_paths, ref_commit):
-  diff1, diff2 = "", ""
-  diff2 += f"***** tested against commit {ref_commit} *****\n"
-
-  failed = False
-  for segment, result in list(results.items()):
-    diff1 += f"***** results for segment {segment} *****\n"
-    diff2 += f"***** differences for segment {segment} *****\n"
-
-    for proc, diff in list(result.items()):
-      # long diff
-      diff2 += f"*** process: {proc} ***\n"
-      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
-      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
-
-      # short diff
-      diff1 += f"    {proc}\n"
-      if isinstance(diff, str):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-        diff1 += f"        {diff}\n"
-        failed = True
-      elif len(diff):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-
-        cnt: Dict[str, int] = {}
-        for d in diff:
-          diff2 += f"\t{str(d)}\n"
-
-          k = str(d[1])
-          cnt[k] = 1 if k not in cnt else cnt[k] + 1
-
-        for k, v in sorted(cnt.items()):
-          diff1 += f"        {k}: {v}\n"
-        failed = True
-  return diff1, diff2, failed
-
-
 if __name__ == "__main__":
  all_cars = {car for car, _ in segments}
  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
--- a/selfdrive/test/process_replay/vision_meta.py
+++ b/selfdrive/test/process_replay/vision_meta.py
@ -4,9 +4,9 @@ from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size

 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
 WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
 VIPC_STREAM_METADATA = [
  # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@ -41,8 +41,6 @@ const char frame_fragment_shader[] =
  "out vec4 colorOut;\n"
  "void main() {\n"
  "  colorOut = texture(uTexture, vTexCoord);\n"
-  // gamma to improve worst case visibility when dark
-  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
  "}\n";
 #else
 const char frame_fragment_shader[] =
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@ -26,7 +26,7 @@ class InputDialog : public DialogBase {

 public:
  explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
-  static QString getText(const QString &title, QWidget *parent, const QString &substitle = "",
+  static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "",
                         bool secret = false, int minLength = -1, const QString &defaultText = "");
  QString text();
  void setMessage(const QString &message, bool clearInputField = true);
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@ -114,6 +114,13 @@ class TestTranslations(unittest.TestCase):
          self.assertFalse(line.strip().startswith(LOCATION_TAG),
                           f"Line contains location tag: {line.strip()}, remove all line numbers.")

+  def test_entities_error(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        matches = re.findall(r'@(\w+);', cur_translations)
+        self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+

 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@ -1,7 +1,7 @@
 import os
 from pathlib import Path

-from openpilot.selfdrive.hardware import PC
+from openpilot.system.hardware import PC

 class Paths:
  @staticmethod
--- a/system/hardware/tici/power_draw_test.py
+++ b/system/hardware/tici/power_draw_test.py
@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
-
-def read_power():
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-    voltage_total = int(f.read()) / 1000.
-
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-    current_total = int(f.read())
-
-  with open("/sys/class/power_supply/bms/voltage_now") as f:
-    voltage = int(f.read()) / 1e6   # volts
-
-  with open("/sys/class/power_supply/bms/current_now") as f:
-    current = int(f.read()) / 1e3   # ma
-
-  power_som = voltage*current
-  power_total = voltage_total*current_total
-
-  return power_total, power_som
-
-def read_power_avg():
-  pwrs = []
-  for _ in range(100):
-    pwrs.append(read_power())
-    time.sleep(0.01)
-  power_total, power_som = np.mean([x[0] for x in pwrs]), np.mean([x[1] for x in pwrs])
-  return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
-
-
-if __name__ == "__main__":
-  gpio_export(GPIO.CAM0_AVDD_EN)
-  gpio_export(GPIO.CAM0_RSTN)
-  gpio_export(GPIO.CAM1_RSTN)
-  gpio_export(GPIO.CAM2_RSTN)
-  print("hello")
-  os.system('kill $(pgrep -f "manager.py")')
-  os.system('kill $(pgrep -f "python -m selfdrive.athena.manage_athenad")')
-  os.system('kill $(pgrep -f "selfdrive.athena.athenad")')
-  # stopping weston turns off lcd3v3
-  os.system("sudo service weston stop")
-  os.system("sudo service ModemManager stop")
-  print("services stopped")
-
-  t = Tici()
-  t.initialize_hardware()
-  t.set_power_save(True)
-  t.set_screen_brightness(0)
-  gpio_init(GPIO.STM_RST_N, True)
-  gpio_init(GPIO.HUB_RST_N, True)
-  gpio_init(GPIO.GNSS_PWR_EN, True)
-  gpio_init(GPIO.LTE_RST_N, True)
-  gpio_init(GPIO.LTE_PWRKEY, True)
-  gpio_init(GPIO.CAM0_AVDD_EN, True)
-  gpio_init(GPIO.CAM0_RSTN, True)
-  gpio_init(GPIO.CAM1_RSTN, True)
-  gpio_init(GPIO.CAM2_RSTN, True)
-
-
-  os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")  # cam 1v2 off
-  gpio_set(GPIO.CAM0_AVDD_EN, False)    # cam 2v8 off
-  gpio_set(GPIO.LTE_RST_N, True)        # quectel off
-  gpio_set(GPIO.GNSS_PWR_EN, False)    # gps off
-  gpio_set(GPIO.STM_RST_N, True)        # panda off
-  gpio_set(GPIO.HUB_RST_N, False)       # hub off
-  # cameras in reset
-  gpio_set(GPIO.CAM0_RSTN, False)
-  gpio_set(GPIO.CAM1_RSTN, False)
-  gpio_set(GPIO.CAM2_RSTN, False)
-  time.sleep(8)
-
-  print("baseline: ", read_power_avg())
-  gpio_set(GPIO.CAM0_AVDD_EN, True)
-  time.sleep(2)
-  print("cam avdd: ", read_power_avg())
-  os.system("sudo su -c 'echo 1 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")
-  time.sleep(2)
-  print("cam dvdd: ", read_power_avg())
-  gpio_set(GPIO.CAM0_RSTN, True)
-  gpio_set(GPIO.CAM1_RSTN, True)
-  gpio_set(GPIO.CAM2_RSTN, True)
-  time.sleep(2)
-  print("cams up:  ", read_power_avg())
-  gpio_set(GPIO.HUB_RST_N, True)
-  time.sleep(2)
-  print("usb hub:  ", read_power_avg())
-  gpio_set(GPIO.STM_RST_N, False)
-  time.sleep(5)
-  print("panda:    ", read_power_avg())
-  gpio_set(GPIO.GNSS_PWR_EN, True)
-  time.sleep(5)
-  print("gps:      ", read_power_avg())
-  gpio_set(GPIO.LTE_RST_N, False)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, True)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, False)
-  time.sleep(5)
-  print("quectel:  ", read_power_avg())
-
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 from openpilot.system.hardware import PC
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths


 CAMERA_FPS = 20
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@ -16,7 +16,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths

 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
--- a/system/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
      pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")

      # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")

      # UBX-CFG-ODO (0x06 0x1E)
      pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
      pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")

      # UBX-CFG-NAV5 (0x06 0x24)
      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@ -169,7 +169,7 @@ void ChartView::msgUpdated(MessageId id) {
 }

 void ChartView::manageSignals() {
-  SignalSelector dlg(tr("Mange Chart"), this);
+  SignalSelector dlg(tr("Manage Chart"), this);
  for (auto &s : sigs) {
    dlg.addSelected(s.msg_id, s.sig);
  }
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@ -395,7 +395,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
    else e->setValidator(double_validator);

    if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
      completer->setCaseSensitivity(Qt::CaseInsensitive);
      completer->setFilterMode(Qt::MatchContains);
      e->setCompleter(completer);
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@ -19,7 +19,11 @@ ENCODE_SOCKETS = {
  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }

-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vst, nvidia, debug=False):
+  vipc_server = VisionIpcServer("camerad")
+  vipc_server.create_buffers(vst, 4, False, W, H)
+  vipc_server.start_listener()
+
  sock_name = ENCODE_SOCKETS[vst]
  if debug:
    print("start decoder for %s" % sock_name)
@ -101,14 +105,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):

 class CompressedVipc:
  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
-    self.vipc_server = VisionIpcServer("camerad")
-    for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
-    self.vipc_server.start_listener()
-
    self.procs = []
    for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug))
      p.start()
      self.procs.append(p)

--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@ -1,6 +1,12 @@
 #!/usr/bin/env python3
 import os
 import unittest
+
+from pathlib import Path
+from parameterized import parameterized
+from unittest import mock
+
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile


@ -59,6 +65,34 @@ class TestFileDownload(unittest.TestCase):
    self.compare_loads(large_file_url, length - 100, 100)
    self.compare_loads(large_file_url)

+  @parameterized.expand([(True, ), (False, )])
+  def test_recover_from_missing_file(self, cache_enabled):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+
+    file_url = "http://localhost:5001/test.png"
+
+    file_exists = False
+
+    def get_length_online_mock(self):
+      if file_exists:
+        return 4
+      return -1
+
+    patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock)
+    patch_length.start()
+    try:
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, -1)
+
+      file_exists = True
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, 4)
+    finally:
+      tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length"
+      if tempfile_length.exists():
+        tempfile_length.unlink()
+      patch_length.stop()
+

 if __name__ == "__main__":
  unittest.main()
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@ -73,7 +73,7 @@ class URLFile:
          return self._length

    self._length = self.get_length_online()
-    if not self._force_download:
+    if not self._force_download and self._length != -1:
      with atomic_write_in_dir(file_length_path, mode="w") as file_length:
        file_length.write(str(self._length))
    return self._length
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@ -433,7 +433,7 @@ void Replay::stream() {
        long etime = (cur_mono_time_ - evt_start_ts) / speed_;
        long rtime = nanos_since_boot() - loop_start_ts;
        long behind_ns = etime - rtime;
-        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
+        // if behind_ns is greater than 1 second, it means that an invalid segment is skipped by seeking/replaying
        if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) {
          // reset event start times
          evt_start_ts = cur_mono_time_;
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@ -2,10 +2,16 @@
 import sys

 if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number>")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500')
+  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
+  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
  exit(0)

+cameras = {
+  "front": "cameras",
+  "wide": "ecameras",
+  "driver": "dcameras"
+}
+
 import requests
 from PIL import Image
 from openpilot.tools.lib.auth_config import get_token
@ -16,22 +22,22 @@ jwt = get_token()
 route = sys.argv[1]
 segment = int(sys.argv[2])
 frame = int(sys.argv[3])
+camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"

-url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
-r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10)
+url = f'https://api.commadotai.com/v1/route/{route}/files'
+r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
 assert r.status_code == 200
 print("got api response")

-cameras = r.json()['cameras']
-if segment >= len(cameras):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(cameras)))
+segments = r.json()[camera]
+if segment >= len(segments):
+  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))

-fr = FrameReader(cameras[segment])
+fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
  raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))

 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
-fn = "uxxx_"+route.replace("|", "_")+"_%d_%d.png" % (segment, frame)
+fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
 im.save(fn)
 print(f"saved {fn}")
-
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@ -1,58 +1,82 @@
 openpilot in simulator
 =====================

-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).

-## System Requirements
-
-openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
-For this case, we have the simulator in low quality by default.
-
-You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
-
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
+## Launching openpilot
+First, start openpilot.
 ``` bash
-# Terminal 1
-./start_carla.sh
-
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
-
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
+# Run locally
+./tools/sim/launch_openpilot.sh
 ```

-### Bridge usage
-_Same commands hold for start_openpilot_docker_
+## Bridge usage
 ```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
+
+Bridge between the simulator and openpilot.

-Options:
+options:
  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
 ```

-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)

+#### All inputs:
+
+```
 | key  |   functionality       |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
 |  q   | Exit all              |
 | wasd | Control manually      |
+```
+
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
+```
+
+## Carla
+
+CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
+
+```bash
+poetry install --with=carla
+```
+
+openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
+For this case, we have the simulator in low quality by default.
+
+You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
+
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
+``` bash
+# Terminal 1
+./start_carla.sh
+
+# Terminal 2
+./run_bridge.py --simulator carla
+```

 ## Further Reading

--- a/tools/sim/bridge/carla/carla_bridge.py
+++ b/tools/sim/bridge/carla/carla_bridge.py
@ -1,5 +1,3 @@
-import carla
-
 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld

@ -15,6 +13,8 @@ class CarlaBridge(SimulatorBridge):
    self.num_selected_spawn_point = arguments.num_selected_spawn_point

  def spawn_world(self):
+    import carla
+
    client = carla.Client(self.host, self.port)
    client.set_timeout(5)

--- a/tools/sim/bridge/carla/carla_world.py
+++ b/tools/sim/bridge/carla/carla_world.py
@ -1,4 +1,3 @@
-import carla
 import numpy as np

 from openpilot.common.params import Params
@ -10,6 +9,8 @@ from openpilot.tools.sim.lib.camerad import W, H
 class CarlaWorld(World):
  def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
    super().__init__(dual_camera)
+    import carla
+
    low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)

    layers = carla.MapLayer.All if high_quality else low_quality_layers
@ -139,5 +140,6 @@ class CarlaWorld(World):
    self.world.tick()

  def reset(self):
+    import carla
    self.vehicle.set_transform(self.spawn_point)
    self.vehicle.set_target_velocity(carla.Vector3D())
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@ -68,7 +68,7 @@ class SimulatorBridge(ABC):
      self.world.close()

  def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
+    bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
    bridge_p.start()
    return bridge_p

@ -96,6 +96,10 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
                                                                        100, self._exit_event))
    self.simulated_car_thread.start()

+    self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
+                                                                        20, self._exit_event))
+    self.simulated_camera_thread.start()
+
    # Simulation tends to be slow in the initial steps. This prevents lagging later
    for _ in range(20):
      self.world.tick()
@ -105,6 +109,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
      throttle_op = steer_op = brake_op = 0.0

      self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False

      throttle_manual = steer_manual = brake_manual = 0.

@ -127,6 +133,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
            self.simulator_state.cruise_button = CruiseButtons.CANCEL
          elif m[1] == "main":
            self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
        elif m[0] == "ignition":
          self.simulator_state.ignition = not self.simulator_state.ignition
        elif m[0] == "reset":
@ -136,6 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga

      self.simulator_state.user_brake = brake_manual
      self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000

      steer_manual = steer_manual * -40

@ -143,7 +155,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
      self.simulated_sensors.update(self.simulator_state, self.world)

      self.simulated_car.sm.update(0)
-      self.simulator_state.is_engaged = self.simulated_car.sm['controlsState'].active
+      controlsState = self.simulated_car.sm['controlsState']
+      self.simulator_state.is_engaged = controlsState.active

      if self.simulator_state.is_engaged:
        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
@ -151,7 +164,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
        steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg

        self.past_startup_engaged = True
-      elif not self.past_startup_engaged:
+      elif not self.past_startup_engaged and controlsState.engageable:
        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup

      throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@ -1,39 +1,50 @@
+import numpy as np
+
 from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive.component.sensors.base_camera import _cuda_enable
 from metadrive.component.map.pg_map import MapGenerateMethod
-from metadrive.engine.core.engine_core import EngineCore
-from metadrive.engine.core.image_buffer import ImageBuffer
-from metadrive.envs.metadrive_env import MetaDriveEnv
-from metadrive.obs.image_obs import ImageObservation
-from panda3d.core import Vec3
+from panda3d.core import Vec3, Texture, GraphicsOutput

 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H


-def apply_metadrive_patches():
-  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
-  def add_image_sensor_patched(self, name: str, cls, args):
-    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
-        sensor = cls(*args, self, cuda=True)
-    else:
-        sensor = cls(*args, self, cuda=False)
-    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
-    self.sensors[name] = sensor
+C3_POSITION = Vec3(0, 0, 1)

-  EngineCore.add_image_sensor = add_image_sensor_patched

-  # we aren't going to use the built-in observation stack, so disable it to save time
-  def observe_patched(self, vehicle):
-    return self.state
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)

-  ImageObservation.observe = observe_patched
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img

-  def arrive_destination_patch(self, vehicle):
-    return False

-  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraWide, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(160)
+
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraRoad, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(40)


 def straight_block(length):
@ -55,7 +66,7 @@ def curve_block(length, angle=45, direction=0):


 class MetaDriveBridge(SimulatorBridge):
-  TICKS_PER_FRAME = 2
+  TICKS_PER_FRAME = 5

  def __init__(self, args):
    self.should_render = False
@ -63,30 +74,6 @@ class MetaDriveBridge(SimulatorBridge):
    super(MetaDriveBridge, self).__init__(args)

  def spawn_world(self):
-    print("----------------------------------------------------------")
-    print("---- Spawning Metadrive world, this might take awhile ----")
-    print("----------------------------------------------------------")
-
-    apply_metadrive_patches()
-
-    C3_POSITION = Vec3(0, 0, 1)
-
-    class RGBCameraWide(RGBCamera):
-      def __init__(self, *args, **kwargs):
-        super(RGBCameraWide, self).__init__(*args, **kwargs)
-        cam = self.get_cam()
-        cam.setPos(C3_POSITION)
-        lens = self.get_lens()
-        lens.setFov(160)
-
-    class RGBCameraRoad(RGBCamera):
-      def __init__(self, *args, **kwargs):
-        super(RGBCameraRoad, self).__init__(*args, **kwargs)
-        cam = self.get_cam()
-        cam.setPos(C3_POSITION)
-        lens = self.get_lens()
-        lens.setFov(40)
-
    sensors = {
      "rgb_road": (RGBCameraRoad, W, H, )
    }
@ -94,8 +81,7 @@ class MetaDriveBridge(SimulatorBridge):
    if self.dual_camera:
      sensors["rgb_wide"] = (RGBCameraWide, W, H)

-    env = MetaDriveEnv(
-        dict(
+    config = dict(
      use_render=self.should_render,
      vehicle_config=dict(
        enable_reverse=False,
@ -110,23 +96,24 @@ class MetaDriveBridge(SimulatorBridge):
      on_continuous_line_done=False,
      crash_vehicle_done=False,
      crash_object_done=False,
+      traffic_density=0.0, # traffic is incredibly expensive
      map_config=dict(
        type=MapGenerateMethod.PG_MAP_FILE,
        config=[
          None,
          straight_block(120),
-              curve_block(120, 90),
+          curve_block(240, 90),
          straight_block(120),
-              curve_block(120, 90),
+          curve_block(240, 90),
          straight_block(120),
-              curve_block(120, 90),
+          curve_block(240, 90),
          straight_block(120),
-              curve_block(120, 90),
+          curve_block(240, 90),
        ]
+      ),
+      decision_repeat=1,
+      physics_world_step_size=self.TICKS_PER_FRAME/100,
+      preload_models=False
    )
-        )
-      )
-
-    env.reset()

-    return MetaDriveWorld(env)
+    return MetaDriveWorld(config)
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@ -0,0 +1,99 @@
+import math
+import numpy as np
+
+from collections import namedtuple
+from multiprocessing.connection import Connection
+
+from metadrive.engine.core.engine_core import EngineCore
+from metadrive.engine.core.image_buffer import ImageBuffer
+from metadrive.envs.metadrive_env import MetaDriveEnv
+from metadrive.obs.image_obs import ImageObservation
+
+from openpilot.common.realtime import Ratekeeper
+from openpilot.tools.sim.lib.common import vec3
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
+
+def apply_metadrive_patches():
+  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
+  def add_image_sensor_patched(self, name: str, cls, args):
+    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
+        sensor = cls(*args, self, cuda=True)
+    else:
+        sensor = cls(*args, self, cuda=False)
+    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
+    self.sensors[name] = sensor
+
+  EngineCore.add_image_sensor = add_image_sensor_patched
+
+  # we aren't going to use the built-in observation stack, so disable it to save time
+  def observe_patched(self, vehicle):
+    return self.state
+
+  ImageObservation.observe = observe_patched
+
+  def arrive_destination_patch(self, vehicle):
+    return False
+
+  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+
+def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
+  apply_metadrive_patches()
+
+  road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+  env = MetaDriveEnv(config)
+
+  def reset():
+    env.reset()
+    env.vehicle.config["max_speed_km_h"] = 1000
+
+  reset()
+
+  def get_cam_as_rgb(cam):
+    cam = env.engine.sensors[cam]
+    img = cam.perceive(env.vehicle, clip=False)
+    if type(img) != np.ndarray:
+      img = img.get() # convert cupy array to numpy
+    return img
+
+  rk = Ratekeeper(100, None)
+
+  steer_ratio = 15
+  vc = [0,0]
+
+  while not exit_event.is_set():
+    state = metadrive_state(
+      velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
+      position=env.vehicle.position,
+      bearing=float(math.degrees(env.vehicle.heading_theta)),
+      steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
+    )
+
+    state_send.send(state)
+
+    if controls_recv.poll(0):
+      while controls_recv.poll(0):
+        steer_angle, gas, should_reset = controls_recv.recv()
+
+      steer_metadrive = steer_angle * 1 / (env.vehicle.MAX_STEERING * steer_ratio)
+      steer_metadrive = np.clip(steer_metadrive, -1, 1)
+
+      vc = [steer_metadrive, gas]
+
+      if should_reset:
+        reset()
+
+    if rk.frame % 5 == 0:
+      obs, _, terminated, _, info = env.step(vc)
+
+      if terminated:
+        reset()
+
+      #if dual_camera:
+      #  wide_road_image = get_cam_as_rgb("rgb_wide")
+      road_image[...] = get_cam_as_rgb("rgb_road")
+
+    rk.keep_time()
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@ -1,65 +1,75 @@
-import math
+import ctypes
+import functools
+import multiprocessing
 import numpy as np
 import time

-from openpilot.tools.sim.lib.common import SimulatorState, World, vec3
+from multiprocessing import Pipe, Array
+from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.camerad import W, H


 class MetaDriveWorld(World):
-  def __init__(self, env, dual_camera = False):
+  def __init__(self, config, dual_camera = False):
    super().__init__(dual_camera)
-    self.env = env
-    self.dual_camera = dual_camera
+    self.camera_array = Array(ctypes.c_uint8, W*H*3)
+    self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))

-    self.steer_ratio = 15
+    self.controls_send, self.controls_recv = Pipe()
+    self.state_send, self.state_recv = Pipe()

-    self.vc = [0.0,0.0]
+    self.exit_event = multiprocessing.Event()

-    self.reset_time = 0
+    self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
+                              functools.partial(metadrive_process, dual_camera, config,
+                                                self.camera_array, self.controls_recv, self.state_send, self.exit_event))
+    self.metadrive_process.start()

-  def get_cam_as_rgb(self, cam):
-    cam = self.env.engine.sensors[cam]
-    img = cam.perceive(self.env.vehicle, clip=False)
-    if type(img) != np.ndarray:
-      img = img.get() # convert cupy array to numpy
-    return img
+    print("----------------------------------------------------------")
+    print("---- Spawning Metadrive world, this might take awhile ----")
+    print("----------------------------------------------------------")

-  def apply_controls(self, steer_angle, throttle_out, brake_out):
-    steer_metadrive = steer_angle * 1 / (self.env.vehicle.MAX_STEERING * self.steer_ratio)
-    steer_metadrive = np.clip(steer_metadrive, -1, 1)
+    self.state_recv.recv() # wait for a state message to ensure metadrive is launched
+
+    self.steer_ratio = 15
+    self.vc = [0.0,0.0]
+    self.reset_time = 0
+    self.should_reset = False

-    if (time.monotonic() - self.reset_time) > 5:
-      self.vc[0] = steer_metadrive
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    if (time.monotonic() - self.reset_time) > 2:
+      self.vc[0] = steer_angle

      if throttle_out:
-        self.vc[1] = throttle_out/10
+        self.vc[1] = throttle_out
      else:
        self.vc[1] = -brake_out
    else:
      self.vc[0] = 0
      self.vc[1] = 0

+    self.controls_send.send([*self.vc, self.should_reset])
+    self.should_reset = False
+
  def read_sensors(self, state: SimulatorState):
-    state.velocity = vec3(x=float(self.env.vehicle.velocity[0]), y=float(self.env.vehicle.velocity[1]), z=0)
-    state.gps.from_xy(self.env.vehicle.position)
-    state.bearing = float(math.degrees(self.env.vehicle.heading_theta))
-    state.steering_angle = self.env.vehicle.steering * self.env.vehicle.MAX_STEERING
+    while self.state_recv.poll(0):
+      md_state: metadrive_state = self.state_recv.recv()
+      state.velocity = md_state.velocity
+      state.bearing = md_state.bearing
+      state.steering_angle = md_state.steering_angle
+      state.gps.from_xy(md_state.position)
      state.valid = True

  def read_cameras(self):
-    if self.dual_camera:
-     self.wide_road_image = self.get_cam_as_rgb("rgb_wide")
-    self.road_image = self.get_cam_as_rgb("rgb_road")
+    pass

  def tick(self):
-    obs, _, terminated, _, info = self.env.step(self.vc)
-
-    if terminated:
-      self.reset()
+    pass

  def reset(self):
-    self.env.reset()
-    self.reset_time = time.monotonic()
+    self.should_reset = True

  def close(self):
-    pass
+    self.exit_event.set()
+    self.metadrive_process.join()
--- a/tools/sim/lib/common.py
+++ b/tools/sim/lib/common.py
@ -49,9 +49,13 @@ class SimulatorState:

    self.user_gas: float = 0
    self.user_brake: float = 0
+    self.user_torque: float = 0

    self.cruise_button = 0

+    self.left_blinker = False
+    self.right_blinker = False
+
  @property
  def speed(self):
    return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@ -20,9 +20,9 @@ STDIN_FD = sys.stdin.fileno()

 KEYBOARD_HELP = """
  | key  |   functionality       |
-  -----------------------------
-  |  1   |   Cruise Resume    |
-  |  2   |    Cruise Set      |
+  |------|-----------------------|
+  |  1   | Cruise Resume / Accel |
+  |  2   | Cruise Set    / Decel |
  |  3   | Cruise Cancel         |
  |  r   | Reset Simulation      |
  |  i   | Toggle Ignition       |
@ -67,6 +67,10 @@ def keyboard_poll_thread(q: 'Queue[str]'):
      q.put("brake_%f" % 1.0)
    elif c == 'd':
      q.put("steer_%f" % -0.15)
+    elif c == 'z':
+      q.put("blinker_left")
+    elif c == 'x':
+      q.put("blinker_right")
    elif c == 'i':
      q.put("ignition")
    elif c == 'r':
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@ -59,7 +59,7 @@ class SimulatedCar:
    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
    msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
    msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
    msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
    msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
    msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
@ -68,7 +68,12 @@ class SimulatedCar:
    msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
    msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
-    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
+                                    {
+                                      "MAIN_ON": 1,
+                                      "LEFT_BLINKER": simulator_state.left_blinker,
+                                      "RIGHT_BLINKER": simulator_state.right_blinker
+                                    }))
    msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
                                    {
                                    "ACC_STATUS": int(simulator_state.is_engaged),
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@ -123,5 +123,3 @@ class SimulatedSensors:
    if (now - self.last_perp_update) > 0.25:
      self.send_peripheral_state()
      self.last_perp_update = now
-
-    self.send_camera_images(world)
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@ -11,11 +11,11 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg


 def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
  parser.add_argument('--joystick', action='store_true')
  parser.add_argument('--high_quality', action='store_true')
  parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--simulator', dest='simulator', type=str, default='carla')
+  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')

  # Carla specific
  parser.add_argument('--town', type=str, default='Town04_Opt')
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@ -2,5 +2,5 @@
 tmux new -d -s carla-sim
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py $*" ENTER
+tmux send-keys "./run_bridge.py $*" ENTER
 tmux a -t carla-sim