From cec9f591130615c9760bdca18e0439dd62634319 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Mar 2024 03:53:41 -0800
Subject: [PATCH 01/10] Toyota: set distance lines to max (#31728)

* press the button

* 33hz/2

* fix tests

* PCM_CRUISE_SM is a UI message: it goes to 0 when not displayed, and is much lower rate

* only change when enabled so we don't hide the welcome message on cruise main button

* unbump

* then you can get into a weird state

* stuff

* for unplugged DSU we can still read PCM distance, but not buttons

* skip

* skip
---
 selfdrive/car/toyota/carcontroller.py | 14 ++++++++++++--
 selfdrive/car/toyota/carstate.py      | 18 ++++++++++++------
 selfdrive/car/toyota/toyotacan.py     |  4 ++--
 3 files changed, 26 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d960114f1b..8e8e0292f2 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -37,6 +37,7 @@ class CarController(CarControllerBase):
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
+    self.distance_button = 0
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -139,14 +140,23 @@ class CarController(CarControllerBase):
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
+      # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
+      if self.frame % 6 == 0:
+        if CS.pcm_follow_distance_values.get(CS.pcm_follow_distance, "UNKNOWN") != "FAR" and CS.out.cruiseState.enabled and \
+          self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+          self.distance_button = not self.distance_button
+        else:
+          self.distance_button = 0
+
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                                                        self.distance_button))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 166f6735a0..65fced80f4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -43,6 +43,9 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
+    self.pcm_follow_distance = 0
+    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
+
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
@@ -166,13 +169,16 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
-    # distance button is wired to the ACC module (camera or radar)
-    self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+    if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    elif self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+      # distance button is wired to the ACC module (camera or radar)
+      self.prev_distance_button = self.distance_button
+      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      else:
+        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index e14e3e53a0..1cc99b41b5 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -33,12 +33,12 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
     "ACC_TYPE": acc_type,
-    "DISTANCE": 0,
+    "DISTANCE": distance,
     "MINI_CAR": lead,
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,

From 7f11517257dab0826dabc79fdccc0e22ab8e957e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 Mar 2024 10:28:52 -0500
Subject: [PATCH 02/10] Nissan: Remove unused code (#31768)

---
 selfdrive/car/nissan/interface.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index a94b97de20..60cc3a0090 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -30,11 +30,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
-
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:

From ca79e3ec0b01a26ff4025bde3b15ded4b38709e5 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 11:34:03 -0500
Subject: [PATCH 03/10] and controlsd (#31769)

---
 selfdrive/car/card.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 9231794a6c..82335500d8 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -70,7 +70,7 @@ class CarD:
     if prev_cp is not None:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
-    # Write CarParams for radard
+    # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)

From 9cb256891fd68f146d840ef1a68a0adacfd0883e Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 14:01:33 -0500
Subject: [PATCH 04/10] test_updated: add test for no update (#31772)

no update test
---
 selfdrive/updated/tests/test_updated.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/selfdrive/updated/tests/test_updated.py b/selfdrive/updated/tests/test_updated.py
index d8ce9f3394..10d6e9d5a3 100755
--- a/selfdrive/updated/tests/test_updated.py
+++ b/selfdrive/updated/tests/test_updated.py
@@ -116,6 +116,22 @@ class TestUpdateD(unittest.TestCase):
 
       time.sleep(1)
 
+  def test_no_update(self):
+    # Start on release3, ensure we don't fetch any updates
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, False)
+
   def test_new_release(self):
     # Start on release3, simulate a release3 commit, ensure we fetch that update properly
     self.setup_remote_release("release3")

From a919d27afc9a225978737e86241adbdba336bbdd Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 14:33:40 -0500
Subject: [PATCH 05/10] fix car test routes typing (#31773)

* Fix typing

* and fix test_car_model

* fix
---
 selfdrive/car/tests/routes.py       |  3 ++-
 selfdrive/car/tests/test_models.py  | 25 +++++++++++--------------
 tools/car_porting/test_car_model.py |  6 +++++-
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 92ee7fa923..265f052b16 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
@@ -29,7 +30,7 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b7d20e5a83..1ef8c5b676 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import PLATFORMS, Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,8 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+        if cls.platform is None and not cls.ci:
+          cls.platform = PLATFORMS.get(msg.carParams.carFingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +156,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+      if cls.platform in non_tested_cars:
+        print(f"Skipping tests for {cls.platform}: missing route")
         raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +169,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -478,7 +475,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 86980b054b..1dfac7dcf3 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -5,6 +5,7 @@ import unittest
 
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.tools.lib.route import SegmentName
 
 
@@ -31,7 +32,10 @@ if __name__ == "__main__":
 
   route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
   segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
-  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
+
+  platform = PLATFORMS.get(args.car)
+
+  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, platform, segment=segment_num)
   test_suite = create_test_models_suite([test_route], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)

From 8d9b96cf230830b3ce88672e383b4b0e50f7f887 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 15:09:07 -0500
Subject: [PATCH 06/10] test helpers: http server context (#31774)

* http context

* fix

* fix
---
 selfdrive/test/helpers.py | 37 +++++++++++++++++++++----------------
 1 file changed, 21 insertions(+), 16 deletions(-)

diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index b345b929ec..c157b98b62 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -88,23 +88,28 @@ def read_segment_list(segment_list_path):
   return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
 
 
+@contextlib.contextmanager
+def http_server_context(handler, setup=None):
+  host = '127.0.0.1'
+  server = http.server.HTTPServer((host, 0), handler)
+  port = server.server_port
+  t = threading.Thread(target=server.serve_forever)
+  t.start()
+
+  if setup is not None:
+    setup(host, port)
+
+  try:
+    yield (host, port)
+  finally:
+    server.shutdown()
+    server.server_close()
+    t.join()
+
+
 def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    host = '127.0.0.1'
-    server = http.server.HTTPServer((host, 0), handler)
-    port = server.server_port
-    t = threading.Thread(target=server.serve_forever)
-    t.start()
-
-    if setup is not None:
-      setup(host, port)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      server.shutdown()
-      server.server_close()
-      t.join()
-
+    with http_server_context(handler, setup) as (host, port):
+      return func(*args, f"http://{host}:{port}", **kwargs)
   return inner

From dcc49077a0b84d4886b617dfeeb3b8310b23813d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 16:00:09 -0500
Subject: [PATCH 07/10] test_updated: basic agnos update test (#31776)

test agnos
---
 selfdrive/updated/tests/test_updated.py | 44 ++++++++++++++++++++++---
 1 file changed, 39 insertions(+), 5 deletions(-)

diff --git a/selfdrive/updated/tests/test_updated.py b/selfdrive/updated/tests/test_updated.py
index 10d6e9d5a3..93b6e11383 100755
--- a/selfdrive/updated/tests/test_updated.py
+++ b/selfdrive/updated/tests/test_updated.py
@@ -21,7 +21,7 @@ def run(args, **kwargs):
   return subprocess.run(args, **kwargs, check=True)
 
 
-def update_release(directory, name, version, release_notes):
+def update_release(directory, name, version, agnos_version, release_notes):
   with open(directory / "RELEASES.md", "w") as f:
     f.write(release_notes)
 
@@ -30,6 +30,9 @@ def update_release(directory, name, version, release_notes):
   with open(directory / "common" / "version.h", "w") as f:
     f.write(f'#define COMMA_VERSION "{version}"')
 
+  with open(directory / "launch_env.sh", "w") as f:
+    f.write(f'export AGNOS_VERSION="{agnos_version}"')
+
   run(["git", "add", "."], cwd=directory)
   run(["git", "commit", "-m", f"openpilot release {version}"], cwd=directory)
 
@@ -60,8 +63,8 @@ class TestUpdateD(unittest.TestCase):
     os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
 
     self.MOCK_RELEASES = {
-      "release3": ("0.1.2", "0.1.2 release notes"),
-      "master": ("0.1.3", "0.1.3 release notes"),
+      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
+      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
     }
 
   def set_target_branch(self, branch):
@@ -97,7 +100,7 @@ class TestUpdateD(unittest.TestCase):
     self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
     self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
 
-  def _test_update_params(self, branch, version, release_notes):
+  def _test_update_params(self, branch, version, agnos_version, release_notes):
     self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
     self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
 
@@ -142,7 +145,7 @@ class TestUpdateD(unittest.TestCase):
       time.sleep(1)
       self._test_params("release3", False, False)
 
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "0.1.3 release notes")
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
       self.update_remote_release("release3")
 
       self.send_check_for_updates_signal(updated)
@@ -183,6 +186,37 @@ class TestUpdateD(unittest.TestCase):
       self._test_params("master", False, True)
       self._test_update_params("master", *self.MOCK_RELEASES["master"])
 
+  def test_agnos_update(self):
+    # Start on release3, push an update with an agnos change
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+         mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+          processes_context(["updated"]) as [updated]:
+
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
+      self.update_remote_release("release3")
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, True)
+      self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+
 
 if __name__ == "__main__":
   unittest.main()

From 8ba5d660f38c9d74df208aa79d1c6ae85937f4c5 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 17:01:28 -0500
Subject: [PATCH 08/10] common PlatformFlags base class + test for < 32 bits
 (#31779)

* add 32 bit check

* space

* this is not required

* jk yes we do
---
 selfdrive/car/__init__.py          | 5 +++++
 selfdrive/car/chrysler/values.py   | 5 ++---
 selfdrive/car/ford/values.py       | 6 +++---
 selfdrive/car/honda/values.py      | 6 +++---
 selfdrive/car/hyundai/values.py    | 6 +++---
 selfdrive/car/mazda/values.py      | 5 ++---
 selfdrive/car/subaru/values.py     | 6 +++---
 selfdrive/car/toyota/values.py     | 6 +++---
 selfdrive/car/volkswagen/values.py | 6 +++---
 9 files changed, 27 insertions(+), 24 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 1f784a4ab2..525394590d 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -318,3 +318,8 @@ class Platforms(str, ReprEnum):
 
     for flag, platforms in platforms_with_flag.items():
       print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")
+
+
+class PlatformFlags(IntFlag):
+  def __init__(self, value: int):
+    assert value < 2**32, "undefined behaviour with >32 bit flags"
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 7dcfa3749e..72972fcf4f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,16 +1,15 @@
-from enum import IntFlag
 from dataclasses import dataclass, field
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 
 
-class ChryslerFlags(IntFlag):
+class ChryslerFlags(PlatformFlags):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index add40368be..72131b650b 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,9 +1,9 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 import panda.python.uds as uds
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformFlags, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -39,7 +39,7 @@ class CarControllerParams:
     pass
 
 
-class FordFlags(IntFlag):
+class FordFlags(PlatformFlags):
   # Static flags
   CANFD = 1
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 4960380bbc..77aa8f6750 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,10 +1,10 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -45,7 +45,7 @@ class CarControllerParams:
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 
-class HondaFlags(IntFlag):
+class HondaFlags(PlatformFlags):
   # Detected flags
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 199e0bba4d..dfd642e3c0 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,11 +1,11 @@
 import re
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
@@ -51,7 +51,7 @@ class CarControllerParams:
       self.STEER_MAX = 384
 
 
-class HyundaiFlags(IntFlag):
+class HyundaiFlags(PlatformFlags):
   # Dynamic Flags
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index b55690f39a..3a2a93ad09 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import IntFlag
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -37,7 +36,7 @@ class MazdaCarSpecs(CarSpecs):
   tireStiffnessFactor: float = 0.7  # not optimized yet
 
 
-class MazdaFlags(IntFlag):
+class MazdaFlags(PlatformFlags):
   # Static flags
   # Gen 1 hardware: same CAN messages and same camera
   GEN1 = 1
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index cc963404b7..77b30f89be 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,9 +1,9 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, PlatformFlags, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -52,7 +52,7 @@ class CarControllerParams:
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
 
-class SubaruFlags(IntFlag):
+class SubaruFlags(PlatformFlags):
   # Detected flags
   SEND_INFOTAINMENT = 1
   DISABLE_EYESIGHT = 2
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2be7ca1865..50a4195153 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,11 +1,11 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, PlatformFlags, Platforms
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -41,7 +41,7 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
 
 
-class ToyotaFlags(IntFlag):
+class ToyotaFlags(PlatformFlags):
   # Detected flags
   HYBRID = 1
   SMART_DSU = 2
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index a45ddf431f..5f658fb9eb 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,12 +1,12 @@
 from collections import namedtuple
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car import PlatformFlags, dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                            Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@@ -109,7 +109,7 @@ class CANBUS:
   cam = 2
 
 
-class VolkswagenFlags(IntFlag):
+class VolkswagenFlags(PlatformFlags):
   # Detected flags
   STOCK_HCA_PRESENT = 1
 

From 9f0201bdd42e87c15c8d822da12c19f757ea2017 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 17:41:58 -0500
Subject: [PATCH 09/10] vscode: remove non-symlinked openpilot directories from
 python analysis (#31780)

anaylsis
---
 .vscode/settings.json | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index daf74ca777..a7c9b2ac44 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -12,5 +12,15 @@
     "**/.git": true,
     "**/.venv": true,
     "**/__pycache__": true
-  }
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "tools/**",
+  ]
 }
\ No newline at end of file

From 257db40d57b158b33dbd834c946fb86c2ed1e9bc Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 7 Mar 2024 17:58:36 -0500
Subject: [PATCH 10/10] ruff: Exclude body and cereal (#31782)

---
 pyproject.toml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 8894d5eca2..10b99a9ddc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -177,6 +177,8 @@ lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",