Merge remote-tracking branch 'upstream/master' into ford-vehicle-cfg-lca

.devcontainer/devcontainer.json

@@ -14,6 +14,7 @@
     "force_color_prompt": "1"
   },
   "runArgs": [
+    "--volume=/dev:/dev",
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
@@ -49,4 +50,4 @@
   "mounts": [
     "type=volume,source=scons_cache,target=/tmp/scons_cache"
   ]
-}
+}

.github/workflows/auto_pr_review.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   labeler:
-    name: apply labels
+    name: review
     permissions:
       contents: read
       pull-requests: write
@@ -14,17 +14,17 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: false
+
+    # Label PRs
     - uses: actions/labeler@v5.0.0
       with:
         dot: true
         configuration-path: .github/labeler.yaml
 
-  pr_branch_check:
+    # Check PR target branch
-    name: check branch
+    - name: check branch
-    runs-on: ubuntu-latest
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-    if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -34,194 +34,20 @@ jobs:
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
-  comment:
+    # Welcome comment
-    runs-on: ubuntu-latest
+    - name: comment
-    steps:
+      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
-      - name: comment
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-        uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      with:
-        if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+        message: |
-        with:
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
-          message: |
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-              <!-- _(run_id **${{ github.run_id }}**)_ -->
+            * Convert your PR to a draft unless it's ready to review
-              Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-              * Convert your PR to a draft unless it's ready to review
+            * Before marking as "ready for review", ensure:
-              * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+              * the goal is clearly stated in the description
-              * Before marking as "ready for review", ensure:
+              * all the tests are passing
-                * the goal is clearly stated in the description
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-                * all the tests are passing
+              * include a route or your device' dongle ID if relevant
-                * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+        comment_tag: run_id
-                * include a route or your device' dongle ID if relevant
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          comment_tag: run_id
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-  check-pr-template:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      issues: write
-      pull-requests: write
-      actions: read
-    if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-    steps:
-      - uses: actions/github-script@v7
-        with:
-          script: |
-            // Comment to add to the PR if no template has been used
-            const NO_TEMPLATE_MESSAGE =
-              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
-            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
-            // body data for future requests
-            const body_data = {
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-            };
-
-            // Utility function to extract all headings
-            const extractHeadings = (markdown) => {
-              const headingRegex = /^(#{1,6})\s+(.+)$/gm;
-              const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
-              const headings = [];
-              let headingMatch;
-              while ((headingMatch = headingRegex.exec(markdown))) {
-                headings.push(headingMatch[2].trim());
-              }
-              let boldMatch;
-              while ((boldMatch = boldTextRegex.exec(markdown))) {
-                headings.push(boldMatch[1].trim());
-              }
-              return headings;
-            };
-
-            // Utility function to extract all check box descriptions
-            const extractCheckBoxTexts = (markdown) => {
-              const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
-              const checkboxes = [];
-              let match;
-              while ((match = checkboxRegex.exec(markdown))) {
-                checkboxes.push(match[2].trim());
-              }
-              return checkboxes;
-            };
-
-            // Utility function to check if a list is a subset of another list
-            isSubset = (subset, superset) => {
-              return subset.every((item) => superset.includes(item));
-            };
-
-            // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
-            isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
-              // Check if each template checkbox text is a substring of at least one PR checkbox text
-              // (user should be allowed to add additional text)
-              return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
-            }
-
-            // Get filenames of all currently checked-in PR templates
-            const template_contents = await github.rest.repos.getContent({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              path: ".github/PULL_REQUEST_TEMPLATE",
-            });
-            var template_filenames = [];
-            for (const content of template_contents.data) {
-              template_filenames.push(content.path);
-            }
-            console.debug("Received template filenames: " + template_filenames);
-            // Retrieve templates
-            var templates = [];
-            for (const template_filename of template_filenames) {
-              const template_response = await github.rest.repos.getContent({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                path: template_filename,
-              });
-              // Convert Base64 content back
-              const decoded_template = atob(template_response.data.content);
-              const headings = extractHeadings(decoded_template);
-              const checkboxes = extractCheckBoxTexts(decoded_template);
-              if (!headings.length && !checkboxes.length) {
-                console.warn(
-                  "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
-                    decoded_template
-                );
-              } else {
-                templates.push({ headings: headings, checkboxes: checkboxes });
-              }
-            }
-            // Retrieve the PR Body
-            const pull_request = await github.rest.issues.get({
-              ...body_data,
-            });
-            const pull_request_text = pull_request.data.body;
-            console.debug("Received Pull Request body: \n" + pull_request_text);
-
-            /* Check if the PR Body matches one of the templates
-            A template is defined by all headings and checkboxes it contains
-            We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
-            */
-            const pr_headings = extractHeadings(pull_request_text);
-            const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
-            console.debug("Found Headings in PR body:\n" + pr_headings);
-            console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
-            var template_found = false;
-            // Iterate over each template to check if it applies
-            for (const template of templates) {
-              console.log(
-                "Checking for headings: [" +
-                  template.headings +
-                  "] and checkboxes: [" +
-                  template.checkboxes + "]"
-              );
-              if (
-                isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
-                isSubset(template.headings, pr_headings)
-              ) {
-                console.debug("Found matching template!");
-                template_found = true;
-              }
-            }
-
-            // List comments from previous runs
-            var existing_comments = [];
-            const comments = await github.rest.issues.listComments({
-              ...body_data,
-            });
-            for (const comment of comments.data) {
-              if (comment.body === NO_TEMPLATE_MESSAGE) {
-                existing_comments.push(comment);
-              }
-            }
-
-            // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
-            if (!template_found) {
-              var comment_already_sent = false;
-
-              // Add an 'in-bot-review' label since this PR doesn't have the template
-              github.rest.issues.addLabels({
-                ...body_data,
-                labels: ["in-bot-review"],
-              });
-
-              if (existing_comments.length < 1) {
-                github.rest.issues.createComment({
-                  ...body_data,
-                  body: NO_TEMPLATE_MESSAGE,
-                });
-              }
-            } else {
-              // If template has been found, delete any old comment about missing template
-              for (const existing_comment of existing_comments) {
-                github.rest.issues.deleteComment({
-                  ...body_data,
-                  comment_id: existing_comment.id,
-                });
-              }
-              // Remove the 'in-bot-review' label after the review is done and the PR has passed
-              github.rest.issues.removeLabel({
-                ...body_data,
-                name: "in-bot-review",
-              }).catch((error) => {
-                console.log("Label 'in-bot-review' not found, ignoring");
-              });
-            }
-

.github/workflows/selfdrive_tests.yaml

@@ -76,24 +76,8 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - name: Setup docker push
-      with:
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
-  docker_push:
-    name: docker push
-    strategy:
-      matrix:
-        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
@@ -101,12 +85,14 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   docker_push_multiarch:
     name: docker push multiarch tag
     runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [docker_push]
+    needs: [build]
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/tools_tests.yaml

@@ -59,7 +59,7 @@ jobs:
         ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
   devcontainer:
     name: devcontainer

.gitignore

@@ -55,12 +55,8 @@ selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
-one
 notebooks
-xx
-yy
 hyperthneed
-panda_jungle
 provisioning
 
 .coverage*

.pre-commit-config.yaml

@@ -47,7 +47,7 @@ repos:
         args:
         - --local-partial-types
         - --explicit-package-bases
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -89,7 +89,7 @@ repos:
         entry: selfdrive/ui/tests/test_translations.py
         language: script
         pass_filenames: false
-        files: 'selfdrive/ui/translations/*'
+        files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.8.0'
     hooks:

Dockerfile.openpilot_base

@@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN cd /tmp && \
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
-    tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    rm -rf /var/lib/apt/lists/* && \
-    rm -rf /tmp/* && \
-    # remove unused architectures from gcc for panda
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -83,4 +79,4 @@ RUN cd /tmp && \
     rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
 
 USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+RUN sudo git config --global --add safe.directory /tmp/openpilot

cereal

@@ -1 +1 @@
-Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49
+Subproject commit 5812f2c075a5364cecafe4e8ed68a12b12a5631f

common/api/__init__.py

@@ -7,7 +7,7 @@ from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class Api():
+class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
     with open(Paths.persist_root()+'/comma/id_rsa') as f:

common/gpio.py

@@ -1,5 +1,5 @@
 import os
-from functools import lru_cache
+from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
   except Exception:
     print(f"Failed to export gpio {pin}")
 
-@lru_cache(maxsize=None)
+@cache
 def get_irq_action(irq: int) -> list[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:

common/spinner.py

@@ -3,7 +3,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR
 
 
-class Spinner():
+class Spinner:
   def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],

common/stat_live.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-class RunningStat():
+class RunningStat:
   # tracks realtime mean and standard deviation without storing any data
   def __init__(self, priors=None, max_trackable=-1):
     self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
   def params_to_save(self):
     return [self.M, self.S, self.n]
 
-class RunningStatFilter():
+class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)

docs/BOUNTIES.md

@@ -9,6 +9,7 @@ Get paid to improve openpilot!
 * once you open a PR, the bounty is locked to you until you stop working on it
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
+* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
 
 We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
 This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.

pyproject.toml

@@ -20,17 +20,17 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/athena",
   "selfdrive/boardd",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
   "selfdrive/navd/tests",
-  "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "selfdrive/updated",
+  "system/thermald",
+  "system/athena",
   "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
@@ -184,8 +184,24 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
-lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
+lint.select = [
-lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
+  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
+  "NPY", # numpy
+  "UP",  # pyupgrade
+  "TRY302", "TRY400", "TRY401", # try/excepts
+  "RUF008", "RUF100",
+  "TID251"
+]
+lint.ignore = [
+  "E741",
+  "E402",
+  "C408",
+  "ISC003",
+  "B027",
+  "B024",
+  "NPY002",  # new numpy random syntax is worse
+  "UP038",   # (x, y) -> x|y for isinstance
+]
 line-length = 160
 target-version="py311"
 exclude = [

release/files_common

@@ -53,9 +53,6 @@ tools/replay/*.cc
 tools/replay/*.h
 
 selfdrive/__init__.py
-selfdrive/sentry.py
-selfdrive/tombstoned.py
-selfdrive/statsd.py
 
 selfdrive/updated/**
 
@@ -65,10 +62,10 @@ system/version.py
 
 selfdrive/SConscript
 
-selfdrive/athena/__init__.py
+system/athena/__init__.py
-selfdrive/athena/athenad.py
+system/athena/athenad.py
-selfdrive/athena/manage_athenad.py
+system/athena/manage_athenad.py
-selfdrive/athena/registration.py
+system/athena/registration.py
 
 selfdrive/boardd/.gitignore
 selfdrive/boardd/SConscript
@@ -162,6 +159,10 @@ selfdrive/controls/lib/longitudinal_mpc_lib/*
 system/__init__.py
 system/*.py
 
+system/sentry.py
+system/tombstoned.py
+system/statsd.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -252,9 +253,9 @@ system/webrtc/schema.py
 system/webrtc/device/audio.py
 system/webrtc/device/video.py
 
-selfdrive/thermald/thermald.py
+system/thermald/thermald.py
-selfdrive/thermald/power_monitoring.py
+system/thermald/power_monitoring.py
-selfdrive/thermald/fan_controller.py
+system/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
 selfdrive/test/fuzzy_generation.py

selfdrive/car/body/carcontroller.py

@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
     can_sends = []
     can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
     new_actuators.steerOutputCan = torque_r

selfdrive/car/card.py

@@ -9,7 +9,7 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
@@ -21,22 +21,24 @@ REPLAY = "REPLAY" in os.environ
 EventName = car.CarEvent.EventName
 
 
-class CarD:
+class Car:
   CI: CarInterfaceBase
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
     self.can_rcv_timeout_counter = 0  # consecutive timeout count
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
+    self.initialized_prev = False
 
-    self.last_actuators = None
+    self.last_actuators_output = car.CarControl.Actuators.new_message()
 
-    self.params = Params()
+    params = Params()
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -44,18 +46,18 @@ class CarD:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      experimental_long_allowed = params.get_bool("ExperimentalLongitudinalEnabled")
       self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+    openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
 
@@ -66,22 +68,20 @@ class CarD:
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
-    prev_cp = self.params.get("CarParamsPersistent")
+    prev_cp = params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
+    params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
+    params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.CS_prev = car.CarState.new_message()
     self.events = Events()
 
-  def initialize(self):
+    # card is driven by can recv, expected at 100Hz
-    """Initialize CarInterface, once controls are ready"""
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
-    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
@@ -106,11 +106,6 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.update_events(CS)
-    self.state_publish(CS)
-
-    CS = CS.as_reader()
-    self.CS_prev = CS
     return CS
 
   def update_events(self, CS: car.CarState) -> car.CarState:
@@ -129,12 +124,6 @@ class CarD:
   def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 
-    # carState
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = CS.canValid
-    cs_send.carState = CS
-    self.pm.send('carState', cs_send)
-
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
@@ -144,17 +133,60 @@ class CarD:
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
-    co_send.valid = True
+    co_send.valid = self.sm.all_checks(['carControl'])
-    if self.last_actuators is not None:
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
-      co_send.carOutput.actuatorsOutput = self.last_actuators
     self.pm.send('carOutput', co_send)
 
+    # kick off controlsd step while we actuate the latest carControl packet
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
+    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
+    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
+    self.pm.send('carState', cs_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
-    # send car controls over can
+    if not self.initialized_prev:
-    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      # Initialize CarInterface, once controls are ready
-    self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
+      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+    if self.sm.all_alive(['carControl']):
+      # send car controls over can
+      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+      self.CC_prev = CC
+
+  def step(self):
+    CS = self.state_update()
+
+    self.update_events(CS)
+
+    self.state_publish(CS)
+
+    initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
+                   self.sm.seen['onroadEvents'])
+    if not self.CP.passive and initialized:
+      self.controls_update(CS, self.sm['carControl'])
+
+    self.initialized_prev = initialized
+    self.CS_prev = CS.as_reader()
+
+  def card_thread(self):
+    while True:
+      self.step()
+      self.rk.monitor_time()
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+  car = Car()
+  car.card_thread()
+
 
-    self.CC_prev = CC
+if __name__ == "__main__":
+  main()

selfdrive/car/chrysler/carcontroller.py

@@ -78,7 +78,7 @@ class CarController(CarControllerBase):
 
     self.frame += 1
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 

selfdrive/car/chrysler/fingerprints.py

@@ -68,6 +68,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'68267018AO ',
       b'68267020AJ ',
+      b'68303534AG ',
       b'68303534AJ ',
       b'68340762AD ',
       b'68340764AD ',
@@ -106,6 +107,7 @@ FW_VERSIONS = {
       b'68405565AB',
       b'68405565AC',
       b'68444299AC',
+      b'68480707AC',
       b'68480708AC',
       b'68526663AB',
     ],
@@ -147,6 +149,7 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496647AI ',
       b'68496647AJ ',
       b'68496650AH ',
       b'68496650AI ',
@@ -264,6 +267,7 @@ FW_VERSIONS = {
   },
   CAR.JEEP_GRAND_CHEROKEE: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68243549AG',
       b'68302211AC',
       b'68302212AD',
       b'68302223AC',
@@ -275,18 +279,22 @@ FW_VERSIONS = {
       b'68340272AD',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68309533AA',
       b'68316742AB',
       b'68355363AB',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68252642AG',
       b'68306178AD',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672627AB',
+      b'68251506AF',
       b'68332015AB',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68276201AG',
       b'68321644AB',
       b'68321644AC',
       b'68321646AC',
@@ -294,6 +302,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035920AE ',
+      b'68252272AG ',
       b'68284455AI ',
       b'68284456AI ',
       b'68284477AF ',
@@ -304,6 +313,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035517AH',
+      b'68253222AF',
       b'68311218AC',
       b'68311223AF',
       b'68311223AG',

selfdrive/car/ford/carcontroller.py

@@ -113,7 +113,7 @@ class CarController(CarControllerBase):
     self.steer_alert_last = steer_alert
     self.lead_distance_bars_last = hud_control.leadDistanceBars
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.curvature = self.apply_curvature_last
 
     self.frame += 1

selfdrive/car/gm/carcontroller.py

@@ -155,7 +155,7 @@ class CarController(CarControllerBase):
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas

selfdrive/car/honda/carcontroller.py

@@ -244,7 +244,7 @@ class CarController(CarControllerBase):
         self.speed = pcm_speed
         self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.speed = self.speed
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas

selfdrive/car/hyundai/carcontroller.py

@@ -163,7 +163,7 @@ class CarController(CarControllerBase):
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
         can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel

selfdrive/car/hyundai/fingerprints.py

@@ -864,6 +864,7 @@ FW_VERSIONS = {
       b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',

selfdrive/car/mazda/carcontroller.py

@@ -58,7 +58,7 @@ class CarController(CarControllerBase):
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
                                                       self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
 

selfdrive/car/mock/carcontroller.py

@@ -2,4 +2,4 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 class CarController(CarControllerBase):
   def update(self, CC, CS, now_nanos):
-    return CC.actuators.copy(), []
+    return CC.actuators.as_builder(), []

selfdrive/car/nissan/carcontroller.py

@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
           self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steeringAngleDeg = apply_angle
 
     self.frame += 1

selfdrive/car/subaru/carcontroller.py

@@ -136,7 +136,7 @@ class CarController(CarControllerBase):
         if self.frame % 2 == 0:
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 

selfdrive/car/tesla/carcontroller.py

@@ -60,7 +60,7 @@ class CarController(CarControllerBase):
 
     # TODO: HUD control
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steeringAngleDeg = self.apply_angle_last
 
     self.frame += 1

selfdrive/car/tests/test_car_interfaces.py

@@ -91,14 +91,14 @@ class TestCarInterfaces:
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_models.py

@@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import CarD
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
@@ -215,7 +215,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
@@ -308,17 +308,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = car.CarControl.new_message()
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = car.CarControl.new_message(cruiseControl={'cancel': True})
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = car.CarControl.new_message(cruiseControl={'resume': True})
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -406,7 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    card = CarD(CI=self.CI)
+    card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):

selfdrive/car/toyota/carcontroller.py

@@ -168,7 +168,7 @@ class CarController(CarControllerBase):
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.steeringAngleDeg = self.last_angle

selfdrive/car/toyota/fingerprints.py

@@ -1476,6 +1476,7 @@ FW_VERSIONS = {
       b'\x01896630E41200\x00\x00\x00\x00',
       b'\x01896630E41500\x00\x00\x00\x00',
       b'\x01896630EA3100\x00\x00\x00\x00',
+      b'\x01896630EA3300\x00\x00\x00\x00',
       b'\x01896630EA3400\x00\x00\x00\x00',
       b'\x01896630EA4100\x00\x00\x00\x00',
       b'\x01896630EA4300\x00\x00\x00\x00',

selfdrive/car/volkswagen/carcontroller.py

@@ -112,7 +112,7 @@ class CarController(CarControllerBase):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 

selfdrive/controls/controlsd.py

@@ -18,8 +18,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_startup_event
+from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
-from openpilot.selfdrive.car.card import CarD
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -61,16 +60,19 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 class Controls:
   def __init__(self, CI=None):
-    self.card = CarD(CI)
-
     self.params = Params()
 
-    with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
+    if CI is None:
-      # TODO: this shouldn't need to be a builder
+      cloudlog.info("controlsd is waiting for CarParams")
-      self.CP = msg.as_builder()
+      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-
+        # TODO: this shouldn't need to be a builder
-    self.CI = self.card.CI
+        self.CP = msg.as_builder()
+      cloudlog.info("controlsd got CarParams")
 
+      # Uses car interface helper functions, altering state won't be considered by card for actuation
+      self.CI = get_car_interface(self.CP)
+    else:
+      self.CI, self.CP = CI, CI.CP
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch()
@@ -83,6 +85,9 @@ class Controls:
 
     self.log_sock = messaging.sub_sock('androidLog')
 
+    # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches
+    self.car_state_sock = messaging.sub_sock('carState', timeout=20)
+
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
@@ -110,6 +115,7 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
+    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -161,7 +167,7 @@ class Controls:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    # controlsd is driven by can recv, expected at 100Hz
+    # controlsd is driven by carState, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
   def set_initial_state(self):
@@ -308,7 +314,7 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or CS.canRcvTimeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -320,7 +326,7 @@ class Controls:
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': self.card.can_rcv_timeout,
+        'can_rcv_timeout': CS.canRcvTimeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -380,9 +386,10 @@ class Controls:
         self.events.add(EventName.modeldLagging)
 
   def data_sample(self):
-    """Receive data from sockets and update carState"""
+    """Receive data from sockets"""
 
-    CS = self.card.state_update()
+    car_state = messaging.recv_one(self.car_state_sock)
+    CS = car_state.carState if car_state else self.CS_prev
 
     self.sm.update(0)
 
@@ -396,9 +403,6 @@ class Controls:
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
-        if not self.CP.passive:
-          self.card.initialize()
-
         self.initialized = True
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
@@ -709,7 +713,6 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.card.controls_update(CS, CC)
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
@@ -757,7 +760,6 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
     controlsState.personality = self.personality
 
@@ -807,6 +809,8 @@ class Controls:
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
+    self.CS_prev = CS
+
   def read_personality_param(self):
     try:
       return int(self.params.get('LongitudinalPersonality'))

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -128,7 +128,7 @@ def gen_lat_ocp():
   return ocp
 
 
-class LateralMpc():
+class LateralMpc:
   def __init__(self, x0=None):
     if x0 is None:
       x0 = np.zeros(X_DIM)

selfdrive/controls/lib/pid.py

@@ -4,7 +4,7 @@ from numbers import Number
 from openpilot.common.numpy_fast import clip, interp
 
 
-class PIDController():
+class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
     self._k_i = k_i

selfdrive/controls/radard.py

@@ -2,7 +2,7 @@
 import importlib
 import math
 from collections import deque
-from typing import Any, Optional
+from typing import Any
 
 import capnp
 from cereal import messaging, log, car
@@ -208,7 +208,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+  def update(self, sm: messaging.SubMaster, rr):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 

selfdrive/controls/tests/test_following_distance.py

@@ -32,7 +32,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance():
+class TestFollowingDistance:
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)

selfdrive/controls/tests/test_startup.py

@@ -87,6 +87,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
     os.environ['SKIP_FW_QUERY'] = '1'
 
   managed_processes['controlsd'].start()
+  managed_processes['card'].start()
 
   assert pm.wait_for_readers_to_update('can', 5)
   pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
@@ -104,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
   msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
-    # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+    # card waits for boardd to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
       params.put_bool("ObdMultiplexingChanged", True)
 

selfdrive/debug/vw_mqb_config.py

@@ -139,7 +139,7 @@ if __name__ == "__main__":
       # so fib a little and say that same tester did the programming
       current_date = date.today()
       formatted_date = current_date.strftime('%y-%m-%d')
-      year, month, day = [int(part) for part in formatted_date.split('-')]
+      year, month, day = (int(part) for part in formatted_date.split('-'))
       prog_date = bytes([year, month, day])
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)

selfdrive/locationd/models/car_kf.py

@@ -28,7 +28,7 @@ def _slice(n):
   return s
 
 
-class States():
+class States:
   # Vehicle model params
   STIFFNESS = _slice(1)  # [-]
   STEER_RATIO = _slice(1)  # [-]

selfdrive/locationd/models/live_kf.py

@@ -20,7 +20,7 @@ def numpy2eigenstring(arr):
   return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
 
 
-class States():
+class States:
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
   ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
   ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
@@ -39,7 +39,7 @@ class States():
   ACC_BIAS_ERR = slice(18, 21)
 
 
-class LiveKalman():
+class LiveKalman:
   name = 'live'
 
   initial_x = np.array([3.88e6, -3.37e6, 3.76e6,

selfdrive/manager/build.py

@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2560
+TOTAL_SCONS_NODES = 2410
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

selfdrive/manager/manager.py

@@ -7,14 +7,14 @@ import traceback
 
 from cereal import log
 import cereal.messaging as messaging
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 

selfdrive/manager/process.py

@@ -12,7 +12,7 @@ from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog

selfdrive/manager/process_config.py

@@ -42,7 +42,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
 procs = [
-  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
+  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
@@ -64,6 +64,7 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
@@ -75,11 +76,11 @@ procs = [
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
+  PythonProcess("thermald", "system.thermald.thermald", always_run),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
+  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("statsd", "selfdrive.statsd", always_run),
+  PythonProcess("statsd", "system.statsd", always_run),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),

selfdrive/modeld/modeld.py

@@ -15,7 +15,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.selfdrive import sentry
+from openpilot.system import sentry
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
@@ -206,9 +206,8 @@ def main(demo=False):
         continue
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format(
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-          meta_main.frame_id, meta_main.timestamp_sof / 1e9,
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-          meta_extra.frame_id, meta_extra.timestamp_sof / 1e9))
 
     else:
       # Use single camera

selfdrive/monitoring/driver_monitor.py

@@ -15,7 +15,7 @@ EventName = car.CarEvent.EventName
 #  We recommend that you do not change these numbers from the defaults.
 # ******************************************************************************************
 
-class DRIVER_MONITOR_SETTINGS():
+class DRIVER_MONITOR_SETTINGS:
   def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
@@ -102,7 +102,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
-class DriverPose():
+class DriverPose:
   def __init__(self, max_trackable):
     self.yaw = 0.
     self.pitch = 0.
@@ -116,12 +116,12 @@ class DriverPose():
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverBlink():
+class DriverBlink:
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
 
-class DriverStatus():
+class DriverStatus:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()

selfdrive/test/docker_build.sh

@@ -17,7 +17,7 @@ fi
 
 source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
 if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -83,7 +83,7 @@ class Plant:
 
     lead = log.RadarState.LeadData.new_message()
     lead.dRel = float(d_rel)
-    lead.yRel = float(0.0)
+    lead.yRel = 0.0
     lead.vRel = float(v_rel)
     lead.aRel = float(a_lead - self.acceleration)
     lead.vLead = float(v_lead)

selfdrive/test/process_replay/migration.py

@@ -14,6 +14,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_carParams(msgs, old_logtime)
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
+  msgs = migrate_carOutput(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -69,6 +70,23 @@ def migrate_deviceState(lr):
   return all_msgs
 
 
+def migrate_carOutput(lr):
+  # migration needed only for routes before carOutput
+  if any(msg.which() == 'carOutput' for msg in lr):
+    return lr
+
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carControl':
+      co = messaging.new_message('carOutput')
+      co.valid = msg.valid
+      co.logMonoTime = msg.logMonoTime
+      co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+      all_msgs.append(co.as_reader())
+    all_msgs.append(msg)
+  return all_msgs
+
+
 def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically
@@ -183,9 +201,7 @@ def migrate_carParams(lr, old_logtime=False):
   all_msgs = []
   for msg in lr:
     if msg.which() == 'carParams':
-      CP = messaging.new_message('carParams')
+      CP = msg.as_builder()
-      CP.valid = True
-      CP.carParams = msg.carParams.as_builder()
       CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName

selfdrive/test/process_replay/process_replay.py

@@ -317,12 +317,12 @@ class ProcessContainer:
     return output_msgs
 
 
-def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
+def card_fingerprint_callback(rc, pm, msgs, fingerprint):
   print("start fingerprinting")
   params = Params()
   canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
 
-  # controlsd expects one arbitrary can and pandaState
+  # card expects one arbitrary can and pandaState
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
   pm.send("pandaStates", messaging.new_message("pandaStates", 1))
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -356,12 +356,20 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
+
+    if not params.get_bool("DisengageOnAccelerator"):
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
   params.put("CarParams", CP.to_bytes())
   return CP
 
 
 def controlsd_rcv_callback(msg, cfg, frame):
-  # no sendcan until controlsd is initialized
+  return (frame - 1) == 0 or msg.which() == 'carState'
+
+
+def card_rcv_callback(msg, cfg, frame):
+  # no sendcan until card is initialized
   if msg.which() != "can":
     return False
 
@@ -461,18 +469,28 @@ CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
     pubs=[
-      "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
+      "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput"
     ],
-    subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"],
+    subs=["controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
-    init_callback=controlsd_fingerprint_callback,
+    init_callback=get_car_params_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
+  ),
+  ProcessConfig(
+    proc_name="card",
+    pubs=["pandaStates", "carControl", "onroadEvents", "can"],
+    subs=["sendcan", "carState", "carParams", "carOutput"],
+    ignore=["logMonoTime", "carState.cumLagMs"],
+    init_callback=card_fingerprint_callback,
+    should_recv_callback=card_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    processing_time=0.004,
     main_pub="can",
   ),
   ProcessConfig(

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-cc4e23ca0fceb300a3048c187ae9bc793794c095
+c84b55c256ccb0ee042643a8a7f7f4dc429ff157

selfdrive/test/process_replay/test_fuzzy.py

@@ -12,7 +12,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 

selfdrive/test/process_replay/test_imgproc.py

@@ -93,7 +93,7 @@ if __name__ == "__main__":
 
   if pix_hash != ref_hash:
     print("result changed! please check kernel")
-    print("ref: %s" % ref_hash)
+    print(f"ref: {ref_hash}")
-    print("new: %s" % pix_hash)
+    print(f"new: {pix_hash}")
   else:
     print("test passed")

selfdrive/test/process_replay/test_processes.py

@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"),
+  ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"),
-  ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"),
+  ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"),
-  ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"),
+  ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"),
-  ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"),
+  ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"),
-  ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"),
+  ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"),
-  ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"),
+  ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"),
-  ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"),
+  ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"),
-  ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"),
+  ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"),
-  ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"),
+  ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"),
-  ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"),
+  ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"),
-  ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"),
+  ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"),
-  ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"),
+  ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"),
-  ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"),
+  ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"),
-  ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"),
+  ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"),
-  ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"),
+  ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"),
-  ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"),
+  ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"),
-  ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"),
+  ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -109,7 +109,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     if not check_openpilot_enabled(log_msgs):
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0':
+  if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0':
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs:

selfdrive/test/profiling/lib.py

@@ -8,7 +8,7 @@ class ReplayDone(Exception):
   pass
 
 
-class SubSocket():
+class SubSocket:
   def __init__(self, msgs, trigger):
     self.i = 0
     self.trigger = trigger
@@ -28,7 +28,7 @@ class SubSocket():
       return msg
 
 
-class PubSocket():
+class PubSocket:
   def send(self, data):
     pass
 

selfdrive/test/test_onroad.py

@@ -35,7 +35,8 @@ CPU usage budget
 MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 46.0,
+  "selfdrive.controls.controlsd": 32.0,
+  "selfdrive.car.card": 22.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -47,19 +48,19 @@ PROCS = {
   "selfdrive.controls.radard": 7.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
-  "selfdrive.thermald.thermald": 3.87,
+  "system.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
-  "selfdrive.tombstoned": 0,
+  "system.tombstoned": 0,
   "./logcatd": 0,
   "system.micd": 6.0,
   "system.timed": 0,
   "selfdrive.boardd.pandad": 0,
-  "selfdrive.statsd": 0.4,
+  "system.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,

selfdrive/ui/ui.cc

@@ -57,26 +57,23 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPolygonF left_points, right_points;
+  QPointF left, right;
-  left_points.reserve(max_idx + 1);
+  pvd->clear();
-  right_points.reserve(max_idx + 1);
-
   for (int i = 0; i <= max_idx; i++) {
     // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
     if (line_x[i] < 0) continue;
-    QPointF left, right;
+
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
     bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
     if (l && r) {
       // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && left_points.size() && left.y() > left_points.back().y()) {
+      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
         continue;
       }
-      left_points.push_back(left);
+      pvd->push_back(left);
-      right_points.push_front(right);
+      pvd->push_front(right);
     }
   }
-  *pvd = left_points + right_points;
 }
 
 void update_model(UIState *s,

system/athena/manage_athenad.py

@@ -28,7 +28,7 @@ def main():
   try:
     while 1:
       cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
+      proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad'))
       proc.start()
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)

system/athena/tests/helpers.py

@@ -9,7 +9,7 @@ class MockResponse:
     self.status_code = status_code
 
 
-class EchoSocket():
+class EchoSocket:
   def __init__(self, port):
     self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     self.socket.bind(('127.0.0.1', port))
@@ -34,7 +34,7 @@ class EchoSocket():
       self.socket.close()
 
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -42,7 +42,7 @@ class MockApi():
     return "fake-token"
 
 
-class MockWebsocket():
+class MockWebsocket:
   sock = socket.socket()
 
   def __init__(self, recv_queue, send_queue):

system/athena/tests/test_athenad.py

@@ -19,9 +19,9 @@ from cereal import messaging
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.athena import athenad
+from openpilot.system.athena import athenad
-from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
-from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
+from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
 
@@ -50,7 +50,7 @@ def with_upload_handler(func):
 
 @pytest.fixture
 def mock_create_connection(mocker):
-    return mocker.patch('openpilot.selfdrive.athena.athenad.create_connection')
+    return mocker.patch('openpilot.system.athena.athenad.create_connection')
 
 @pytest.fixture
 def host():

system/athena/tests/test_athenad_ping.py

@@ -7,7 +7,7 @@ from typing import cast
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.athena import athenad
+from openpilot.system.athena import athenad
 from openpilot.selfdrive.manager.helpers import write_onroad_params
 from openpilot.system.hardware import TICI
 
@@ -59,7 +59,7 @@ class TestAthenadPing:
   def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None:
     self.athenad.start()
 
-    mock_create_connection = mocker.patch('openpilot.selfdrive.athena.athenad.create_connection',
+    mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection',
                                           new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection))
 
     time.sleep(1)

system/athena/tests/test_registration.py

@@ -4,8 +4,8 @@ from Crypto.PublicKey import RSA
 from pathlib import Path
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
-from openpilot.selfdrive.athena.tests.helpers import MockResponse
+from openpilot.system.athena.tests.helpers import MockResponse
 from openpilot.system.hardware.hw import Paths
 
 
@@ -36,7 +36,7 @@ class TestRegistration:
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = "DONGLE_ID_123"
     self.params.put("DongleId", dongle)
     assert register() == dongle
@@ -44,7 +44,7 @@ class TestRegistration:
 
   def test_no_keys(self, mocker):
     # missing pubkey
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = register()
     assert m.call_count == 0
     assert dongle == UNREGISTERED_DONGLE_ID
@@ -53,7 +53,7 @@ class TestRegistration:
   def test_missing_cache(self, mocker):
     # keys exist but no dongle id
     self._generate_keys()
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = "DONGLE_ID_123"
     m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
     assert register() == dongle
@@ -67,7 +67,7 @@ class TestRegistration:
   def test_unregistered(self, mocker):
     # keys exist, but unregistered
     self._generate_keys()
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     m.return_value = MockResponse(None, 402)
     dongle = register()
     assert m.call_count == 1

system/loggerd/tests/loggerd_tests_common.py

@@ -28,12 +28,12 @@ def create_random_file(file_path: Path, size_mb: float, lock: bool = False, uplo
   if upload_xattr is not None:
     setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
 
-class MockResponse():
+class MockResponse:
   def __init__(self, text, status_code):
     self.text = text
     self.status_code = status_code
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -43,7 +43,7 @@ class MockApi():
   def get_token(self):
     return "fake-token"
 
-class MockApiIgnore():
+class MockApiIgnore:
   def __init__(self, dongle_id):
     pass
 

system/sentry.py

@@ -4,7 +4,7 @@ from enum import Enum
 from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.athena.registration import is_registered_device
+from openpilot.system.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version

system/statsd.py

@@ -4,7 +4,7 @@ import zmq
 import time
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, timezone
+from datetime import datetime, UTC
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -133,7 +133,7 @@ def main() -> NoReturn:
       # flush when started state changes or after FLUSH_TIME_S
       if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
         result = ""
-        current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
+        current_time = datetime.utcnow().replace(tzinfo=UTC)
         tags['started'] = sm['deviceState'].started
 
         for key, value in gauges.items():

system/thermald/power_monitoring.py

@@ -4,7 +4,7 @@ import threading
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.statsd import statlog
+from openpilot.system.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 

system/thermald/tests/test_fan_controller.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import pytest
 
-from openpilot.selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.system.thermald.fan_controller import TiciFanController
 
 ALL_CONTROLLERS = [TiciFanController]
 

system/thermald/tests/test_power_monitoring.py

@@ -2,7 +2,7 @@
 import pytest
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+from openpilot.system.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
 # Create fake time
@@ -18,9 +18,9 @@ VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
 def pm_patch(mocker, name, value, constant=False):
   if constant:
-    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
+    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", value)
   else:
-    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
+    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", return_value=value)
 
 
 @pytest.fixture(autouse=True)

system/thermald/thermald.py

@@ -19,10 +19,10 @@ from openpilot.common.realtime import DT_TRML
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
-from openpilot.selfdrive.statsd import statlog
+from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring
+from openpilot.system.thermald.power_monitoring import PowerMonitoring
-from openpilot.selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.system.thermald.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus

system/tombstoned.py

@@ -9,7 +9,7 @@ import time
 import glob
 from typing import NoReturn
 
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata

system/ubloxd/pigeond.py

@@ -61,7 +61,7 @@ def get_assistnow_messages(token: bytes) -> list[bytes]:
   return msgs
 
 
-class TTYPigeon():
+class TTYPigeon:
   def __init__(self):
     self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
 

system/updated/casync/tar.py

@@ -1,6 +1,7 @@
 import pathlib
 import tarfile
-from typing import IO, Callable
+from typing import IO
+from collections.abc import Callable
 
 
 def include_default(_) -> bool:

system/version.py

@@ -27,7 +27,7 @@ def get_version(path: str = BASEDIR) -> str:
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md"), "r") as f:
+  with open(os.path.join(path, "RELEASES.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 

system/webrtc/tests/test_webrtcd.py

@@ -20,7 +20,7 @@ from parameterized import parameterized_class
   ([], []),
 ])
 @pytest.mark.asyncio
-class TestWebrtcdProc():
+class TestWebrtcdProc:
   async def assertCompletesWithTimeout(self, awaitable, timeout=1):
     try:
       async with asyncio.timeout(timeout):

system/webrtc/webrtcd.py

@@ -97,8 +97,8 @@ class CerealProxyRunner:
       except InvalidStateError:
         self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
         break
-      except Exception as ex:
+      except Exception:
-        self.logger.error("Cereal outgoing proxy failure: %s", ex)
+        self.logger.exception("Cereal outgoing proxy failure")
       await asyncio.sleep(0.01)
 
 
@@ -175,8 +175,8 @@ class StreamSession:
     assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
-    except Exception as ex:
+    except Exception:
-      self.logger.error("Cereal incoming proxy failure: %s", ex)
+      self.logger.exception("Cereal incoming proxy failure")
 
   async def run(self):
     try:
@@ -200,8 +200,8 @@ class StreamSession:
       await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
-    except Exception as ex:
+    except Exception:
-      self.logger.error("Stream session failure: %s", ex)
+      self.logger.exception("Stream session failure")
 
   async def post_run_cleanup(self):
     await self.stream.stop()

tools/install_ubuntu_dependencies.sh

@@ -12,24 +12,16 @@ if [[ ! $(id -u) -eq 0 ]]; then
   SUDO="sudo"
 fi
 
-# Install packages present in all supported versions of Ubuntu
+# Install common packages
 function install_ubuntu_common_requirements() {
   $SUDO apt-get update
   $SUDO apt-get install -y --no-install-recommends \
-    autoconf \
-    build-essential \
     ca-certificates \
-    casync \
     clang \
-    cmake \
-    make \
     cppcheck \
-    libtool \
+    build-essential \
     gcc-arm-none-eabi \
-    bzip2 \
     liblzma-dev \
-    libarchive-dev \
-    libbz2-dev \
     capnproto \
     libcapnp-dev \
     curl \
@@ -42,41 +34,53 @@ function install_ubuntu_common_requirements() {
     libavdevice-dev \
     libavutil-dev \
     libavfilter-dev \
+    libbz2-dev \
     libeigen3-dev \
     libffi-dev \
     libglew-dev \
     libgles2-mesa-dev \
     libglfw3-dev \
     libglib2.0-0 \
+    libqt5charts5-dev \
     libncurses5-dev \
-    libncursesw5-dev \
-    libomp-dev \
-    libpng16-16 \
-    libportaudio2 \
     libssl-dev \
-    libsqlite3-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libsqlite3-dev \
     libsystemd-dev \
     locales \
     opencl-headers \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
-    clinfo \
     portaudio19-dev \
-    qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
     qttools5-dev-tools \
-    libqt5sql5-sqlite \
     libqt5svg5-dev \
-    libqt5charts5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev \
+    libqt5opengl5-dev
+}
+
+# Install extra packages
+function install_extra_packages() {
+  echo "Installing extra packages..."
+  $SUDO apt-get install -y --no-install-recommends \
+    casync \
+    cmake \
+    make \
+    clinfo \
+    libqt5sql5-sqlite \
     libreadline-dev \
-    libdw1
+    libdw1 \
+    autoconf \
+    libtool \
+    bzip2 \
+    libarchive-dev \
+    libncursesw5-dev \
+    libportaudio2 \
+    locales
 }
 
 # Install Ubuntu 24.04 LTS packages
@@ -125,7 +129,19 @@ if [ -f "/etc/os-release" ]; then
         install_ubuntu_lts_latest_requirements
       fi
   esac
+
+  # Install extra packages
+  if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then
+    read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
+    echo ""
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+      INSTALL_EXTRA_PACKAGES="yes"
+    fi
+  fi
+  if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
+    install_extra_packages
+  fi
 else
-  echo "No /etc/os-release in the system"
+  echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
   exit 1
 fi

tools/lib/api.py

@@ -2,7 +2,7 @@ import os
 import requests
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class CommaApi():
+class CommaApi:
   def __init__(self, token=None):
     self.session = requests.Session()
     self.session.headers['User-agent'] = 'OpenpilotTools'

tools/sim/tests/test_metadrive_bridge.py

@@ -8,6 +8,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
 @pytest.mark.slow
+@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   def create_bridge(self):
     return MetaDriveBridge(False, False)