Merge remote-tracking branch 'upstream/master' into lta

.devcontainer/.gitignore

@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/

.devcontainer/Dockerfile

@@ -0,0 +1,11 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+# remove gitconfig if exists, since its gonna be replaced by host one
+RUN rm -f /root/.gitconfig
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
+RUN pip install ipython jupyter jupyterlab
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://github.com/commaai/agnos-builder/blob/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# override display flag for mac
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /root/.bashrc
+if [ -n "\$DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi

.devcontainer/container_post_start.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done

.devcontainer/devcontainer.json

@@ -0,0 +1,34 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": ".devcontainer/host_setup.sh",
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/root/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
+    "--shm-size=1G"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  }
+}

.devcontainer/host_setup.sh

@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+
+# pull base image
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE

.github/labeler.yaml

@@ -0,0 +1,61 @@
+CI / testing:
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']
+
+car: 
+  - all:
+    - changed-files: ['selfdrive/car/**']
+
+body:
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
+chrysler:
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
+ford: 
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
+gm: 
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
+honda: 
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
+hyundai: 
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
+nissan: 
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
+subaru: 
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
+tesla: 
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
+toyota: 
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all:
+    - changed-files: ['tools/sim/**']
+ui:
+  - all:
+    - changed-files: ['selfdrive/ui/**']
+tools: 
+  - all:
+    - changed-files: ['tools/**']
+
+multilanguage:
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
+

.github/workflows/badges.yaml

@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
 
 jobs:
   badges:
@@ -18,7 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"

.github/workflows/compile-openpilot/action.yaml

@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/labeler.yaml

@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0-alpha.1
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml

.github/workflows/prebuilt.yaml

@@ -5,12 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
   build_prebuilt:
@@ -18,7 +14,7 @@ jobs:
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     env:
-      IMAGE_NAME: openpilot-prebuilt
+      PUSH_IMAGE: true
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
@@ -31,13 +27,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
-    - name: Push to container registry
+    - name: Build and Push docker image
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
-        docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
+        eval "$BUILD"

.github/workflows/repo-maintenance.yaml

@@ -1,4 +1,4 @@
-name: repo
+name: repo maintenance
 
 on:
   schedule:
@@ -6,13 +6,17 @@ on:
   workflow_dispatch:
 
 jobs:
-  pre-commit-autoupdate:
-    name: pre-commit autoupdate
+  updates:
+    name: updates
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     steps:
     - uses: actions/checkout@v3
+    - name: poetry lock
+      run: |
+        pip install poetry
+        poetry lock
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'
@@ -21,8 +25,8 @@ jobs:
       uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update pre-commit hook versions
-        title: 'pre-commit: autoupdate hooks'
-        branch: pre-commit-updates
+        commit-message: Update Python packages and pre-commit hooks
+        title: 'Update Python packages and pre-commit hooks'
+        branch: auto-package-updates
         base: master
         delete-branch: true

.github/workflows/selfdrive_tests.yaml

@@ -12,23 +12,21 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  BUILD_CL: selfdrive/test/docker_build.sh cl
 
-  BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5
 
 jobs:
   build_release:
@@ -43,7 +41,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       timeout-minutes: 1
@@ -64,34 +62,28 @@ jobs:
       run: |
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp mypy.ini $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
       with:
-        path: ~/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   build_mac:
     name: build macos
@@ -118,6 +110,8 @@ jobs:
       uses: actions/cache@v3
       with:
         path: |
+          .env
+          .venv
           ~/github_brew_cache_entries.txt
           ~/.pyenv
           ~/Library/Caches/pypoetry
@@ -143,24 +137,23 @@ jobs:
         fi
     - name: Install dependencies
       if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
+      run: SKIP_PROMPT=1 ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - name: Build openpilot
       run: |
-        source tools/openpilot_env.sh
+        eval "$(pyenv init --path)"
         poetry run scons -j$(nproc)
     - name: Run tests
       run: |
-        source tools/openpilot_env.sh
-        export PYTHONPATH=$PWD
+        eval "$(pyenv init --path)"
         poetry run tools/plotjuggler/test_plotjuggler.py
     - name: Pre Cache - Cleanup scons cache
       if: github.ref == 'refs/heads/master'
       run: |
-        source tools/openpilot_env.sh
         rm -rf /tmp/scons_cache/*
+        eval "$(pyenv init --path)"
         poetry run scons -j$(nproc) --cache-populate
     - name: Save scons cache
       id: scons-save-cache
@@ -186,28 +179,46 @@ jobs:
 
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
-    - name: Push to container registry
+    - name: Setup to push to repo
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
-        docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
-        docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
-    - name: Build CL Docker image
-      run: eval "$BUILD_CL"
-    - name: Push to container registry
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
+      run: |
+        unset TARGET_ARCHITECTURE
+        eval "$BUILD_CL"
+
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - name: Setup docker
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
-        docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
-        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
 
   static_analysis:
     name: static analysis
@@ -229,7 +240,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
@@ -247,68 +258,47 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $UNIT_TEST common && \
-                        $UNIT_TEST opendbc/can && \
-                        $UNIT_TEST selfdrive/boardd && \
-                        $UNIT_TEST selfdrive/controls && \
-                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST system/loggerd && \
-                        $UNIT_TEST selfdrive/car && \
-                        $UNIT_TEST selfdrive/locationd && \
-                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
-                        $UNIT_TEST system/tests && \
-                        $UNIT_TEST system/ubloxd && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
-                        $UNIT_TEST selfdrive/athena && \
-                        $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST system/hardware/tici && \
-                        $UNIT_TEST tools/lib/tests && \
+                        $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_util && \
-                        ./common/tests/test_swaglog && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
-                        ./selfdrive/test/process_replay/test_fuzzy.py && \
-                        coverage xml"
+                        ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
   process_replay:
     name: process replay
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
       with:
-        path: ~/comma_download_cache
+        path: .ci_cache/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: 20
+      timeout-minutes: 30
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
                         coverage xml"
     - name: Print diff
       id: print-diff
@@ -323,7 +313,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
@@ -334,7 +324,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
     - name: Build Docker image
@@ -345,7 +335,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
@@ -370,20 +360,19 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
       with:
-        path: ~/comma_download_cache
+        path: .ci_cache/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
       timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
-                        coverage xml && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5
@@ -400,7 +389,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - uses: ./.github/workflows/setup
+      - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
@@ -408,9 +397,11 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: true
+          path: current
       - name: Save car docs diff
         id: save_diff
         run: |
+          cd current
           ${{ env.RUN }} "scons -j$(nproc)"
           output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
           output="${output//$'\n'/'%0A'}"

.github/workflows/setup-with-retry/action.yaml

@@ -0,0 +1,54 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  git_lfs:
+    description: 'Whether or not to pull the git lfs'
+    required: false
+    default: 'true'
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -1,19 +1,51 @@
 name: 'openpilot env setup'
 
 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
   git_lfs:
     description: 'Whether or not to pull the git lfs'
-    required: false
+    required: true
     default: 'true'
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: true
+    default: 'scons_x86_64'
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
 
 runs:
   using: "composite"
   steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash
@@ -23,12 +55,29 @@ runs:
     - id: restore-scons-cache
       uses: actions/cache/restore@v3
       with:
-        path: ~/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
+    # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      if: steps.restore-scons-cache.outputs.cache-hit != 'true'
+      run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
+    - id: setup-buildx-action
+      if: contains(runner.name, 'buildjet')
+      name: Set up Docker Buildx on buildjet to ensure a consistent cache
+      uses: docker/setup-buildx-action@v2
+      with:
+        driver: docker-container
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
+      run: eval ${{ env.BUILD }}

.github/workflows/tools_tests.yaml

@@ -13,17 +13,15 @@ concurrency:
 env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_REGISTRY: ghcr.io/commaai
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
-  BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+  BUILD_CL: selfdrive/test/docker_build.sh cl
+
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
 
 jobs:
@@ -35,57 +33,68 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
-    - name: Unit test
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      timeout-minutes: 5
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+    - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
-                        apt-get update && \
-                        apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \
-                        cd /tmp/openpilot/tools/plotjuggler && \
-                        ./test_plotjuggler.py"
+        ${{ env.RUN }} "pytest tools/plotjuggler/"
 
   simulator:
     name: simulator
     runs-on: ubuntu-20.04
-    env:
-      IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base cl image
       run: eval "$BUILD_CL"
-    - name: Build simulator image
-      run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
-    - name: Push to container registry
+    - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+    - name: Build and push sim image
+      run: |
+        selfdrive/test/docker_build.sh sim
 
   docs:
     name: build docs
     runs-on: ubuntu-20.04
     timeout-minutes: 45
-    env:
-      BUILD: |
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest -t $DOCKER_REGISTRY/openpilot-docs-base:latest -f docs/docker/Dockerfile --target openpilot-docs-base .
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
       with:
         git_lfs: false
-    - name: Push docker container
+    - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/openpilot-docs-base:latest
-        docker push $DOCKER_REGISTRY/openpilot-docs:latest
+    - name: Build and push docs image
+      run: |
+        selfdrive/test/docker_build.sh docs
+
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: devcontainer up --workspace-folder .
+    - name: Test environment
+      run: devcontainer exec --workspace-folder . scons --dry-run

.gitignore

@@ -1,12 +1,12 @@
 venv/
 .venv/
+.ci_cache
 .env
 .clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
-.moc_files
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
@@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad

.pre-commit-config.yaml

@@ -1,3 +1,4 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
@@ -14,6 +15,8 @@ repos:
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
@@ -35,7 +38,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.284
+    rev: v0.0.288
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -53,6 +56,18 @@ repos:
         - --quiet
         - --force
         - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: local
     hooks:
     -   id: test_translations
@@ -61,10 +76,14 @@ repos:
         language: script
         pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.5.0'
+    rev: '1.6.0'
     hooks:
     -   id: poetry-check
     -   id: poetry-lock
         name: validate poetry lock
-        args: 
+        args:
         - --check
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.26.3
+    hooks:
+    -   id: check-github-workflows

Dockerfile.openpilot

@@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

Dockerfile.openpilot_base

@@ -12,22 +12,28 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN cd /tmp && \
+    tools/install_ubuntu_dependencies.sh && \
+    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 thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
 ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
 COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/ubuntu_setup.sh tools/install_python_dependencies.sh /tmp/tools/
+COPY tools/install_python_dependencies.sh /tmp/tools/
+
 RUN cd /tmp && \
-    tools/ubuntu_setup.sh && \
-    rm -rf /var/lib/apt/lists/* && \
+    tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
     rm -rf /root/.cache && \
-    pip uninstall -y poetry && \
-    # remove unused architectures from gcc for panda
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+    pip uninstall -y poetry
 
 RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,225 +51,186 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
-      }
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
-  }
-}
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
-  }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
+    def extra = env.collect { "export ${it}" }.join('\n');
 
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
+  }
+}
 
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
 
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
+    checkout scm
+
+    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
         }
       }
+    }
+  }
+  }
+}
 
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
 
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
 
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-          }
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
-
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
-
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
 
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
         }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh "scons -j30"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
         }
+      },
 
-      }
+    )
     }
-
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
   }
-}
+}

README.md

@@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
-
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
+  
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
+
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
 
 Running on PC
 ------

RELEASES.md

@@ -1,5 +1,12 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.5 (2023-09-27)
 ========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)

SConstruct

@@ -1,5 +1,4 @@
 import os
-import shutil
 import subprocess
 import sys
 import sysconfig
@@ -15,10 +14,6 @@ AGNOS = TICI
 
 Decider('MD5-timestamp')
 
-AddOption('--extras',
-          action='store_true',
-          help='build misc extras, like setup and installer files')
-
 AddOption('--kaitai',
           action='store_true',
           help='Regenerate kaitai struct parsers')
@@ -49,21 +44,16 @@ AddOption('--external-sconscript',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
-AddOption('--no-thneed',
-          action='store_true',
-          dest='no_thneed',
-          help='avoid using thneed')
-
 AddOption('--pc-thneed',
           action='store_true',
           dest='pc_thneed',
           help='use thneed on pc')
 
-AddOption('--no-test',
+AddOption('--minimal',
           action='store_false',
-          dest='test',
+          dest='extras',
           default=os.path.islink(Dir('#laika/').abspath),
-          help='skip building test files')
+          help='the minimum build to run openpilot. no tests, tools, etc.')
 
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
@@ -254,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -336,18 +314,6 @@ qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
 
-# Have to respect cache-readonly
-if GetOption('cache_readonly'):
-  local_moc_files_dir = Dir("#.moc_files").abspath
-  cache_moc_files_dir = cache_dir + "/moc_files"
-  if os.path.exists(local_moc_files_dir):
-    shutil.rmtree(local_moc_files_dir)
-  if os.path.exists(cache_moc_files_dir):
-    shutil.copytree(cache_moc_files_dir, local_moc_files_dir)
-  qt_env['QT3_MOCHPREFIX'] = local_moc_files_dir + "/moc_"
-else:
-  qt_env['QT3_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
-
 if GetOption("clazy"):
   checks = [
     "level0",
@@ -359,33 +325,35 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
 
-Export('cereal', 'messaging', 'visionipc')
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
+messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
-# Build rednose library and ekf models
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
+
+# Build rednose library and ekf models
 rednose_deps = [
   "#selfdrive/locationd/models/constants.py",
   "#selfdrive/locationd/models/gnss_helpers.py",
@@ -427,20 +395,8 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
-SConscript(['common/kalman/SConscript'])
-SConscript(['common/transformations/SConscript'])
-
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
@@ -449,7 +405,7 @@ SConscript(['selfdrive/navd/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
-if (arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   SConscript(['tools/cabana/SConscript'])
 

body

@@ -1 +1 @@
-Subproject commit 396fa7b923099640d6843f338950ed41300793ec
+Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a

cereal

@@ -1 +1 @@
-Subproject commit 1ee48e0110a46fbdd9db50ed89a38bb5a748cfcb
+Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1

common/SConscript

@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
@@ -12,24 +7,35 @@ common_libs = [
   'util.cc',
   'i2c.cc',
   'watchdog.cc',
+  'ratekeeper.cc'
 ]
 
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
-if GetOption('test'):
-  env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
-  env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])
+if GetOption('extras'):
+  env.Program('tests/test_common',
+              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+              LIBS=[_common, 'json11', 'zmq', 'pthread'])
+
+# Cython bindings
+params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+
+SConscript([
+  'kalman/SConscript',
+  'transformations/SConscript'  
+])
+
+Import('simple_kalman_python', 'transformations_python')
+common_python = [params_python, simple_kalman_python, transformations_python]
 
-# Cython
-envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+Export('common_python')

common/api/__init__.py

@@ -2,8 +2,8 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from system.version import get_version
+from openpilot.common.basedir import PERSIST
+from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 

common/basedir.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 

common/clock.pyx

@@ -1,24 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
-
-IF UNAME_SYSNAME == "Darwin":
-  # Darwin doesn't have a CLOCK_BOOTTIME
-  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
-ELSE:
-  from posix.time cimport CLOCK_BOOTTIME
-
-cdef double readclock(clockid_t clock_id):
-  cdef timespec ts
-  cdef double current
-
-  clock_gettime(clock_id, &ts)
-  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-  return current
-
-def monotonic_time():
-  return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return readclock(CLOCK_BOOTTIME)
-

common/clutil.cc

@@ -75,6 +75,10 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   return nullptr;
 }
 
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }

common/clutil.h

@@ -22,6 +22,7 @@
   })
 
 cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/gpio.cc

@@ -1,5 +1,7 @@
 #include "common/gpio.h"
 
+#include <string>
+
 #ifdef __APPLE__
 int gpio_init(int pin_nr, bool output) {
   return 0;
@@ -29,7 +31,7 @@ int gpio_init(int pin_nr, bool output) {
   char pin_dir_path[50];
   int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
                            "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if(pin_dir_path_len <= 0) {
+  if (pin_dir_path_len <= 0) {
     return -1;
   }
   const char *value = output ? "out" : "in";
@@ -40,7 +42,7 @@ int gpio_set(int pin_nr, bool high) {
   char pin_val_path[50];
   int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
                            "/sys/class/gpio/gpio%d/value", pin_nr);
-  if(pin_val_path_len <= 0) {
+  if (pin_val_path_len <= 0) {
     return -1;
   }
   return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
@@ -68,7 +70,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
   rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
 
   strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
-  int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
+  int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
   if (ret == -1) {
     LOGE("Unable to get line event from ioctl : %s", strerror(errno));
     close(fd);

common/gpio.h

@@ -5,7 +5,7 @@
   #define GPIO_HUB_RST_N        30
   #define GPIO_UBLOX_RST_N      32
   #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
   #define GPIO_STM_RST_N        124
   #define GPIO_STM_BOOT0        134
   #define GPIO_BMX_ACCEL_INT    21
@@ -17,7 +17,7 @@
   #define GPIO_HUB_RST_N        0
   #define GPIO_UBLOX_RST_N      0
   #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
   #define GPIO_STM_RST_N        0
   #define GPIO_STM_BOOT0        0
   #define GPIO_BMX_ACCEL_INT    0

common/i2c.cc

@@ -8,7 +8,6 @@
 #include <cstdio>
 #include <stdexcept>
 
-#include "common/util.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
@@ -26,36 +25,42 @@ I2CBus::I2CBus(uint8_t bus_id) {
   snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
 
   i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if(i2c_fd < 0) {
+  if (i2c_fd < 0) {
     throw std::runtime_error("Failed to open I2C bus");
   }
 }
 
 I2CBus::~I2CBus() {
-  if(i2c_fd >= 0) { close(i2c_fd); }
+  if (i2c_fd >= 0) {
+    close(i2c_fd);
+  }
 }
 
 int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  std::lock_guard lk(m);
+
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if((ret < 0) || (ret != len)) { goto fail; }
+  if ((ret < 0) || (ret != len)) { goto fail; }
 
 fail:
   return ret;
 }
 
 int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  std::lock_guard lk(m);
+
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
 fail:
   return ret;

common/i2c.h

@@ -1,12 +1,14 @@
 #pragma once
 
 #include <cstdint>
+#include <mutex>
 
 #include <sys/types.h>
 
 class I2CBus {
   private:
     int i2c_fd;
+    std::mutex m;
 
   public:
     I2CBus(uint8_t bus_id);

common/kalman/SConscript

@@ -1,3 +1,5 @@
 Import('envCython')
 
-envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+
+Export('simple_kalman_python')

common/kalman/simple_kalman.py

@@ -1,3 +1,12 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
+from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
 assert KF1D
+import numpy as np
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K

common/kalman/tests/test_simple_kalman.py

@@ -3,8 +3,8 @@ import random
 import timeit
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 
 class TestSimpleKalman(unittest.TestCase):
@@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase):
     setup = """
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 dt = 0.01
 x0_0 = 0.0

common/logging_extra.py

@@ -197,7 +197,7 @@ class SwagLogger(logging.Logger):
       filename = os.path.normcase(co.co_filename)
 
       # TODO: is this pylint exception correct?
-      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+      if filename == _srcfile:
         f = f.f_back
         continue
       sinfo = None

common/mat.h

@@ -1,7 +1,7 @@
 #pragma once
 
 typedef struct vec3 {
-	float v[3];
+  float v[3];
 } vec3;
 
 typedef struct vec4 {
@@ -9,7 +9,7 @@ typedef struct vec4 {
 } vec4;
 
 typedef struct mat3 {
-	float v[3*3];
+  float v[3*3];
 } mat3;
 
 typedef struct mat4 {

common/params.cc

@@ -64,7 +64,7 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d, path=%s", errno, params_path.c_str()));
   }
   return params_path;
 }
@@ -158,6 +158,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavPastDestinations", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},

common/params.h

@@ -15,7 +15,11 @@ enum ParamKeyType {
 
 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
   std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);

common/params.py

@@ -1,4 +1,5 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
+                                        put_bool_nonblocking
 assert Params
 assert ParamKeyType
 assert UnknownKeyName

common/params_pyx.pyx

@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) nogil except +
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil

common/prefix.py

@@ -2,13 +2,14 @@ import os
 import shutil
 import uuid
 
-from typing import List, Optional
+from typing import Optional
 
-from common.params import Params
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
 
-class OpenpilotPrefix(object):
+class OpenpilotPrefix:
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
 
@@ -18,13 +19,17 @@ class OpenpilotPrefix(object):
       os.mkdir(self.msgq_path)
     except FileExistsError:
       pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
     if self.clean_dirs_on_exit:
       self.clean_dirs()
-    del os.environ['OPENPILOT_PREFIX']
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+    except KeyError:
+      pass
     return False
 
   def clean_dirs(self):
@@ -33,17 +38,6 @@ class OpenpilotPrefix(object):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-
-
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/ratekeeper.cc

@@ -0,0 +1,40 @@
+#include "common/ratekeeper.h"
+
+#include <algorithm>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
+    : name(name),
+      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+  interval = 1 / rate;
+  last_monitor_time = seconds_since_boot();
+  next_frame_time = last_monitor_time + interval;
+}
+
+bool RateKeeper::keepTime() {
+  bool lagged = monitorTime();
+  if (remaining_ > 0) {
+    util::sleep_for(remaining_ * 1000);
+  }
+  return lagged;
+}
+
+bool RateKeeper::monitorTime() {
+  ++frame_;
+  last_monitor_time = seconds_since_boot();
+  remaining_ = next_frame_time - last_monitor_time;
+
+  bool lagged = remaining_ < 0;
+  if (lagged) {
+    if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
+      LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
+    }
+    next_frame_time = last_monitor_time + interval;
+  } else {
+    next_frame_time += interval;
+  }
+  return lagged;
+}

common/ratekeeper.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+class RateKeeper {
+public:
+  RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0);
+  ~RateKeeper() {}
+  bool keepTime();
+  bool monitorTime();
+  inline double frame() const { return frame_; }
+  inline double remaining() const { return remaining_; }
+
+private:
+  double interval;
+  double next_frame_time;
+  double last_monitor_time;
+  double remaining_ = 0;
+  float print_delay_threshold = 0;
+  uint64_t frame_ = 0;
+  std::string name;
+};

common/realtime.py

@@ -5,10 +5,9 @@ import time
 from collections import deque
 from typing import Optional, List, Union
 
-from setproctitle import getproctitle  # pylint: disable=no-name-in-module
+from setproctitle import getproctitle
 
-from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 
 # time step for each process
@@ -31,12 +30,12 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
 
 
 def set_core_affinity(cores: List[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
+    os.sched_setaffinity(0, cores)
 
 
 def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
@@ -50,13 +49,13 @@ class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
-    self._next_frame_time = sec_since_boot() + self._interval
+    self._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = sec_since_boot()
+    self._last_monitor_time = time.monotonic()
 
   @property
   def frame(self) -> int:
@@ -82,11 +81,11 @@ class Ratekeeper:
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
     prev = self._last_monitor_time
-    self._last_monitor_time = sec_since_boot()
+    self._last_monitor_time = time.monotonic()
     self._dts.append(self._last_monitor_time - prev)
 
     lagged = False
-    remaining = self._next_frame_time - sec_since_boot()
+    remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")

common/spinner.py

@@ -1,6 +1,6 @@
 import os
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class Spinner():

common/swaglog.cc

@@ -12,7 +12,7 @@
 #include <string>
 
 #include <zmq.h>
-#include "json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 #include "common/util.h"
 #include "common/version.h"
@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
 
   json11::Json::object ctx_j;
 
@@ -64,8 +64,7 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg);
   }
-  char levelnum_c = levelnum;
-  zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
+  zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
 }
 
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
@@ -87,8 +86,11 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons
     log_j["msg"] = msg_j;
   }
 
-  std::string log_s = ((json11::Json)log_j).dump();
+  std::string log_s;
+  log_s += (char)levelnum;
+  ((json11::Json)log_j).dump(log_s);
   log(levelnum, filename, lineno, func, msg_buf, log_s);
+
   free(msg_buf);
 }
 

common/swaglog.h

@@ -44,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   int __millis = (millis);                          \
   uint64_t __ts = nanos_since_boot();               \
                                                     \
-  if (!__begin) __begin = __ts;                     \
+  if (!__begin) { __begin = __ts; }                 \
                                                     \
   if (__begin + __millis*1000000ULL < __ts) {       \
     if (__missed) {                                 \

common/tests/.gitignore

@@ -1,2 +1 @@
-test_util
-test_swaglog
+test_common

common/tests/test_file_helpers.py

@@ -2,8 +2,8 @@ import os
 import unittest
 from uuid import uuid4
 
-from common.file_helpers import atomic_write_on_fs_tmp
-from common.file_helpers import atomic_write_in_dir
+from openpilot.common.file_helpers import atomic_write_on_fs_tmp
+from openpilot.common.file_helpers import atomic_write_in_dir
 
 
 class TestFileHelpers(unittest.TestCase):

common/tests/test_numpy_fast.py

@@ -1,7 +1,7 @@
 import numpy as np
 import unittest
 
-from common.numpy_fast import interp
+from openpilot.common.numpy_fast import interp
 
 
 class InterpTest(unittest.TestCase):

common/tests/test_params.py

@@ -1,21 +1,14 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
+from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    print("using", self.tmpdir)
-    self.params = Params(self.tmpdir)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
+    self.params = Params()
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"

common/tests/test_ratekeeper.cc

@@ -0,0 +1,23 @@
+#include "catch2/catch.hpp"
+#include "common/ratekeeper.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+TEST_CASE("RateKeeper") {
+  float freq = GENERATE(10, 50, 100);
+  RateKeeper rk("Test RateKeeper", freq);
+
+  int lags = 0;
+  int bad_keep_times = 0;
+  for (int i = 0; i < freq; ++i) {
+    double begin = seconds_since_boot();
+    util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
+    bool lagged = rk.keepTime();
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
+  }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
+}

common/tests/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

common/tests/test_swaglog.cc

@@ -1,15 +1,14 @@
 #include <zmq.h>
+
 #include <iostream>
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
 
-#include "json11.hpp"
+#include "catch2/catch.hpp"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
+#include "third_party/json11/json11.hpp"
 
-const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 

common/tests/test_util.cc

@@ -5,10 +5,10 @@
 
 #include <algorithm>
 #include <climits>
+#include <fstream>
 #include <random>
 #include <string>
 
-#define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
 #include "common/util.h"
 
@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {

common/text_window.py

@@ -2,7 +2,7 @@
 import os
 import time
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class TextWindow:

common/transformations/SConscript

@@ -1,6 +1,5 @@
 Import('env', 'envCython')
 
 transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-Export('transformations')
-
-envCython.Program('transformations.so', 'transformations.pyx')
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')

common/transformations/camera.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-import common.transformations.orientation as orient
+import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0

common/transformations/coordinates.cc

@@ -1,13 +1,11 @@
 #define _USE_MATH_DEFINES
 
+#include "common/transformations/coordinates.hpp"
+
 #include <iostream>
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "coordinates.hpp"
-
-
-
 double a = 6378137; // lgtm [cpp/short-global-name]
 double b = 6356752.3142; // lgtm [cpp/short-global-name]
 double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]

common/transformations/coordinates.hpp

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
+
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 #define RAD2DEG(x) ((x) * 180.0 / M_PI)
 

common/transformations/coordinates.py

@@ -1,8 +1,7 @@
-# pylint: skip-file
-from common.transformations.orientation import numpy_wrap
-from common.transformations.transformations import (ecef2geodetic_single,
+from openpilot.common.transformations.orientation import numpy_wrap
+from openpilot.common.transformations.transformations import (ecef2geodetic_single,
                                                     geodetic2ecef_single)
-from common.transformations.transformations import LocalCoord as LocalCoord_single
+from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single
 
 
 class LocalCoord(LocalCoord_single):

common/transformations/model.py

@@ -1,7 +1,9 @@
 import numpy as np
 
-from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           get_view_frame_from_calib_frame)
+from openpilot.common.transformations.orientation import rot_from_euler
+from openpilot.common.transformations.camera import (
+  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
+  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -57,61 +59,20 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
 
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
+calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
+calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
-### This function mimics the update_calibration logic in modeld.cc
-### Manually verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
-
-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
-  elif tici:
-    intrinsics = tici_fcam_intrinsics
-  else:
-    intrinsics = eon_fcam_intrinsics
-
-  if big_model:
-    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
-  else:
-    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(medmodel_from_calib)
-  device_from_calib = rot_from_euler(rpy_calib)
-  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
-  warp_matrix = camera_from_calib.dot(calib_from_model)
-  return warp_matrix
-
-
-### This is old, just for debugging
-def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
-
-
-  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
-    view_from_road = view_frame_from_device_frame.dot(device_from_road)
-    return np.hstack((view_from_road, [[0], [height], [0]]))
-
-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
+# This function is verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
+  if tici and wide_camera:
+    cam_intrinsics = tici_ecam_intrinsics
   elif tici:
-    intrinsics = tici_fcam_intrinsics
+    cam_intrinsics = tici_fcam_intrinsics
   else:
-    intrinsics = eon_fcam_intrinsics
+    cam_intrinsics = eon_fcam_intrinsics
 
-  model_height = 1.22
-  if big_model:
-    model_from_road = np.dot(sbigmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  else:
-    model_from_road = np.dot(medmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
-
-  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
-  camera_frame_from_road_frame = intrinsics.dot(E)
-  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
-  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
+  device_from_calib = rot_from_euler(device_from_calib_euler)
+  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix

common/transformations/orientation.cc

@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "orientation.hpp"
-#include "coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"
 
 Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
   if (quat.w() > 0){

common/transformations/orientation.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "coordinates.hpp"
+#include "common/transformations/coordinates.hpp"
 
 
 Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);

common/transformations/orientation.py

@@ -1,8 +1,7 @@
-# pylint: skip-file
 import numpy as np
 from typing import Callable
 
-from common.transformations.transformations import (ecef_euler_from_ned_single,
+from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
                                                     euler2rot_single,
                                                     ned_euler_from_ecef_single,

common/transformations/tests/test_coordinates.py

@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-import common.transformations.coordinates as coord
+import openpilot.common.transformations.coordinates as coord
 
 geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
                                  [27.4840915, -68.5867592, 2380],

common/transformations/tests/test_orientation.py

@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
+from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
                                                ned_euler_from_ecef
 

common/transformations/transformations.pyx

@@ -1,20 +1,20 @@
 # distutils: language = c++
 # cython: language_level = 3
-from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from common.transformations.transformations cimport euler2quat as euler2quat_c
-from common.transformations.transformations cimport quat2euler as quat2euler_c
-from common.transformations.transformations cimport quat2rot as quat2rot_c
-from common.transformations.transformations cimport rot2quat as rot2quat_c
-from common.transformations.transformations cimport euler2rot as euler2rot_c
-from common.transformations.transformations cimport rot2euler as rot2euler_c
-from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from common.transformations.transformations cimport LocalCoord_c
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
 import cython

common/util.cc

@@ -3,7 +3,6 @@
 #include <sys/ioctl.h>
 #include <sys/stat.h>
 #include <sys/resource.h>
-#include <dirent.h>
 
 #include <cassert>
 #include <cerrno>
@@ -253,6 +252,14 @@ std::string dir_name(std::string const &path) {
   return path.substr(0, pos);
 }
 
+bool starts_with(const std::string &s1, const std::string &s2) {
+  return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
+}
+
+bool ends_with(const std::string &s1, const std::string &s2) {
+  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+}
+
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;

common/util.h

@@ -77,6 +77,8 @@ float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
 std::string dir_name(std::string const& path);
+bool starts_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s1, const std::string &s2);
 
 // ***** random helpers *****
 int random_int(int min, int max);
@@ -115,7 +117,7 @@ public:
 #ifndef __APPLE__
     std::signal(SIGPWR, (sighandler_t)set_do_exit);
 #endif
-  };
+  }
   inline static std::atomic<bool> power_failure = false;
   inline static std::atomic<int> signal = 0;
   inline operator bool() { return do_exit; }
@@ -151,12 +153,18 @@ struct unique_fd {
 
 class FirstOrderFilter {
 public:
-  FirstOrderFilter(float x0, float ts, float dt) {
+  FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) {
     k_ = (dt / ts) / (1.0 + dt / ts);
     x_ = x0;
+    initialized_ = initialized;
   }
   inline float update(float x) {
-    x_ = (1. - k_) * x_ + k_ * x;
+    if (initialized_) {
+      x_ = (1. - k_) * x_ + k_ * x;
+    } else {
+      initialized_ = true;
+      x_ = x;
+    }
     return x_;
   }
   inline void reset(float x) { x_ = x; }
@@ -164,12 +172,13 @@ public:
 
 private:
   float x_, k_;
+  bool initialized_;
 };
 
 template<typename T>
 void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
-  while(prev < value && !max.compare_exchange_weak(prev, value)) {}
+  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
 
 class LogState {
@@ -179,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  const char* endpoint;
+  std::string endpoint;
 
-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -193,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
     initialized = true;
   }
 

common/watchdog.cc

@@ -1,3 +1,5 @@
+#include <string>
+
 #include "common/watchdog.h"
 #include "common/util.h"
 

common/window.py

@@ -1,6 +1,6 @@
 import sys
-import pygame  # pylint: disable=import-error
-import cv2  # pylint: disable=import-error
+import pygame
+import cv2
 
 class Window:
   def __init__(self, w, h, caption="window", double=False, halve=False):

conftest.py

@@ -0,0 +1,10 @@
+import pytest
+
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+@pytest.fixture(scope="function", autouse=True)
+def global_setup_and_teardown():
+  # setup a clean environment for each test
+  with OpenpilotPrefix():
+    yield

docs/CARS.md

@@ -2,9 +2,9 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 257 Supported Cars
+# 262 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -80,15 +81,17 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
@@ -107,7 +110,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
@@ -117,6 +120,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -124,15 +128,16 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -183,7 +188,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
 |Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
 |Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
 |Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
 |Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
 |Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
@@ -267,7 +272,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />

docs/conf.py

@@ -1,5 +1,4 @@
 # type: ignore
-# pylint: skip-file
 
 # Configuration file for the Sphinx documentation builder.
 #
@@ -17,8 +16,8 @@ import os
 import sys
 from os.path import exists
 
-from common.basedir import BASEDIR
-from system.version import get_version
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import get_version
 
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))

docs/docker/Dockerfile

@@ -1,8 +1,8 @@
-FROM ghcr.io/commaai/openpilot-base:latest as openpilot-docs-base
+FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV OPENPILOT_PATH /tmp/openpilot
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 ENV POETRY_VIRUALENVS_CREATE false
 
@@ -11,11 +11,12 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./laika ${OPENPILOT_PATH}/laika
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
+RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo
 COPY ./tools ${OPENPILOT_PATH}/tools
@@ -28,7 +29,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
-RUN scons -j$(nproc)
+RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
 
 RUN apt update && apt install doxygen -y
 COPY ./docs ${OPENPILOT_PATH}/docs
@@ -37,5 +38,5 @@ WORKDIR ${OPENPILOT_PATH}/docs
 RUN make html
 
 FROM nginx:1.21
-COPY --from=0  /home/batman/openpilot/build/docs/html /usr/share/nginx/html
+COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html
 COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf

laika_repo

@@ -1 +1 @@
-Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e
+Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9

mypy.ini

@@ -1,16 +0,0 @@
-[mypy]
-python_version = 3.11
-plugins = numpy.typing.mypy_plugin
-files = body, common, docs, scripts, selfdrive, site_scons, system, tools
-exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
-
-; third-party packages
-ignore_missing_imports = True
-
-; helpful warnings
-warn_redundant_casts = True
-warn_unreachable = True
-warn_unused_ignores = True
-
-; restrict dynamic typing
-warn_return_any = True

opendbc

@@ -1 +1 @@
-Subproject commit a1582f5e28fe0df23b6821c907188be477aac11c
+Subproject commit 4ab347baefb7473771ada0723c969c50d0c28d01

panda

@@ -1 +1 @@
-Subproject commit 5681f84f4e79c45ac1387cedf70cf66be9729884
+Subproject commit dfbee695affcc37378b57a2e9a96e157eb41b7ab

pyproject.toml

@@ -1,8 +1,62 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
+#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
 python_files = "test_*.py"
-timeout = "30"  # you get this long by default
+#timeout = "30"  # you get this long by default
+markers = [
+  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+]
+testpaths = [
+  "common",
+  "selfdrive/athena",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/thermald",
+  "selfdrive/test/longitudinal_maneuvers",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/proclogd",
+  "system/tests",
+  "system/ubloxd",
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
+]
+
+[tool.mypy]
+python_version = "3.11"
+plugins = [
+  "numpy.typing.mypy_plugin",
+]
+exclude = [
+  "body/",
+  "cereal/",
+  "opendbc/",
+  "panda/",
+  "laika/",
+  "laika_repo/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "third_party/",
+]
+
+# third-party packages
+ignore_missing_imports=true
+
+# helpful warnings
+warn_redundant_casts=true
+warn_unreachable=true
+warn_unused_ignores=true
+
+# restrict dynamic typing
+warn_return_any=true
+
 
 [tool.poetry]
 name = "openpilot"
@@ -22,6 +76,7 @@ aiohttp = "*"
 aiortc = "*"
 casadi = "==3.6.3"
 cffi = "*"
+control = "*"
 crcmod = "*"
 cryptography = "*"
 Cython = "*"
@@ -39,6 +94,7 @@ psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
 pycryptodome = "*"
+pycurl = "*"
 pydub = "*"
 PyJWT = "*"
 pyopencl = "*"
@@ -64,7 +120,8 @@ sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 [tool.poetry.group.dev.dependencies]
 av = "*"
-azure-storage-blob = "~2.1"
+azure-identity = "*"
+azure-storage-blob = "*"
 breathe = "*"
 carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 coverage = "*"
@@ -75,6 +132,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -84,11 +142,16 @@ pandas = "*"
 parameterized = "^0.8"
 pprofile = "*"
 pre-commit = "*"
-pycurl = "*"
 pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
+pytest-cov = "*"
+pytest-cpp = "*"
+pytest-subtests = "*"
 pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-timeouts = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@@ -110,7 +173,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -123,3 +186,9 @@ exclude = [
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"

rednose_repo

@@ -1 +1 @@
-Subproject commit 22f02dd650361e091f09f1ae94c5c96a9419c2d4
+Subproject commit 8658bed29686b2ddae191fd18302986c85542431

release/files_common

@@ -15,12 +15,14 @@ docs/INTEGRATION.md
 docs/LIMITATIONS.md
 site_scons/site_tools/cython.py
 
+openpilot/__init__.py
+openpilot/**
+
 common/.gitignore
 common/__init__.py
 common/conversions.py
 common/gpio.py
 common/realtime.py
-common/clock.pyx
 common/timeout.py
 common/ffi_wrapper.py
 common/file_helpers.py
@@ -160,6 +162,8 @@ common/clutil.cc
 common/clutil.h
 common/params.h
 common/params.cc
+common/ratekeeper.cc
+common/ratekeeper.h
 common/watchdog.cc
 common/watchdog.h
 
@@ -205,6 +209,7 @@ system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
+system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -314,6 +319,8 @@ selfdrive/ui/tests/test_translations.py
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
+selfdrive/ui/qt/network/*.cc
+selfdrive/ui/qt/network/*.h
 selfdrive/ui/qt/offroad/*.cc
 selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
@@ -350,15 +357,18 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py
 
+selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
-selfdrive/modeld/modeld.cc
-selfdrive/modeld/navmodeld.cc
-selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/modeld.py
+selfdrive/modeld/navmodeld.py
+selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
-selfdrive/modeld/dmonitoringmodeld
+
+selfdrive/modeld/models/__init__.py
+selfdrive/modeld/models/*.pxd
+selfdrive/modeld/models/*.pyx
 
 selfdrive/modeld/models/commonmodel.cc
 selfdrive/modeld/models/commonmodel.h
@@ -367,12 +377,8 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/supercombo.onnx
 
-selfdrive/modeld/models/dmonitoring.cc
-selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/nav.cc
-selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
@@ -388,12 +394,12 @@ selfdrive/modeld/thneed/thneed_common.cc
 selfdrive/modeld/thneed/thneed_qcom2.cc
 selfdrive/modeld/thneed/serialize.cc
 
-selfdrive/modeld/runners/snpemodel.cc
-selfdrive/modeld/runners/snpemodel.h
-selfdrive/modeld/runners/thneedmodel.cc
-selfdrive/modeld/runners/thneedmodel.h
-selfdrive/modeld/runners/runmodel.h
-selfdrive/modeld/runners/run.h
+selfdrive/modeld/runners/__init__.py
+selfdrive/modeld/runners/*.pxd
+selfdrive/modeld/runners/*.pyx
+selfdrive/modeld/runners/*.cc
+selfdrive/modeld/runners/*.h
+selfdrive/modeld/runners/*.py
 
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
@@ -565,6 +571,7 @@ opendbc/nissan_x_trail_2017_generated.dbc
 opendbc/nissan_leaf_2018_generated.dbc
 
 opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_global_2020_hybrid_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc
 opendbc/subaru_outback_2019_generated.dbc
 opendbc/subaru_forester_2017_generated.dbc

release/files_pc

@@ -1,5 +1,3 @@
-selfdrive/modeld/runners/onnx*
-
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
 third_party/libyuv/x86_64/**

scripts/count_cars.py

@@ -2,7 +2,7 @@
 from collections import Counter
 from pprint import pprint
 
-from selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_info
 
 if __name__ == "__main__":
   cars = get_all_car_info()

scripts/disable-powersave.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)

scripts/dump_pll.c

@@ -39,9 +39,9 @@ void hexdump(uint32_t *d, int l) {
 
 int main() {
   int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06400000);
-  volatile uint32_t *mc = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06480000);
-  volatile uint32_t *md = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x09A20000);
+  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
+  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
+  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
   while (1) {
     printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
         mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],

scripts/pyqt_demo.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
-from PyQt5.QtWidgets import QApplication, QLabel  # pylint: disable=no-name-in-module, import-error
-from selfdrive.ui.qt.python_helpers import set_main_window
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
 
 
 if __name__ == "__main__":

scripts/waste.py

@@ -1,23 +1,23 @@
 #!/usr/bin/env python3
 import os
+import time
 import numpy as np
-from common.realtime import sec_since_boot
 from multiprocessing import Process
-from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+from setproctitle import setproctitle
 
 def waste(core):
-  os.sched_setaffinity(0, [core,])  # pylint: disable=no-member
+  os.sched_setaffinity(0, [core,])
 
   m1 = np.zeros((200, 200)) + 0.8
   m2 = np.zeros((200, 200)) + 1.2
 
   i = 1
-  st = sec_since_boot()
+  st = time.monotonic()
   j = 0
   while 1:
     if (i % 100) == 0:
       setproctitle("%3d: %8d" % (core, i))
-      lt = sec_since_boot()
+      lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
     i += 1

selfdrive/assets/.gitignore

@@ -1 +1,2 @@
 *.cc
+translations_assets.qrc

selfdrive/assets/assets.qrc

@@ -14,5 +14,7 @@
   <file>offroad/icon_wifi_strength_medium.svg</file>
   <file>offroad/icon_wifi_strength_high.svg</file>
   <file>offroad/icon_wifi_strength_full.svg</file>
+
+  <file alias="languages.json">../ui/translations/languages.json</file>
 </qresource>
 </RCC>

selfdrive/athena/athenad.py

@@ -30,17 +30,17 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
-from common.api import Api
-from common.basedir import PERSIST
-from common.file_helpers import CallbackReader
-from common.params import Params
-from common.realtime import sec_since_boot, set_core_affinity
-from system.hardware import HARDWARE, PC, AGNOS
-from system.loggerd.config import ROOT
-from system.loggerd.xattr_cache import getxattr, setxattr
-from selfdrive.statsd import STATS_DIR
-from system.swaglog import SWAGLOG_DIR, cloudlog
-from system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.common.api import Api
+from openpilot.common.basedir import PERSIST
+from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.system.hardware import HARDWARE, PC, AGNOS
+from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.selfdrive.statsd import STATS_DIR
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -75,7 +75,7 @@ class UploadFile:
   allow_cellular: bool
 
   @classmethod
-  def from_dict(cls, d: Dict) -> UploadFile:
+  def from_dict(cls, d: dict) -> UploadFile:
     return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
 
 
@@ -92,7 +92,7 @@ class UploadItem:
   allow_cellular: bool = False
 
   @classmethod
-  def from_dict(cls, d: Dict) -> UploadItem:
+  def from_dict(cls, d: dict) -> UploadItem:
     return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
                d["progress"], d["allow_cellular"])
 
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -309,7 +308,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 
 # security: user should be able to request any message from their car
 @dispatcher.add_method
-def getMessage(service: str, timeout: int = 1000) -> Dict:
+def getMessage(service: str, timeout: int = 1000) -> dict:
   if service is None or service not in service_list:
     raise Exception("invalid service")
 
@@ -320,7 +319,7 @@ def getMessage(service: str, timeout: int = 1000) -> Dict:
     raise TimeoutError
 
   # this is because capnp._DynamicStructReader doesn't have typing information
-  return cast(Dict, ret.to_dict())
+  return cast(dict, ret.to_dict())
 
 
 @dispatcher.add_method
@@ -352,7 +351,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -552,7 +551,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
-  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
@@ -572,8 +571,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -593,10 +592,10 @@ def log_handler(end_event: threading.Event) -> None:
     return
 
   log_files = []
-  last_scan = 0
+  last_scan = 0.
   while not end_event.is_set():
     try:
-      curr_scan = sec_since_boot()
+      curr_scan = time.monotonic()
       if curr_scan - last_scan > 10:
         log_files = get_logs_to_send_sorted()
         last_scan = curr_scan
@@ -608,7 +607,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -635,7 +634,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:
@@ -652,8 +651,8 @@ def log_handler(end_event: threading.Event) -> None:
 
 def stat_handler(end_event: threading.Event) -> None:
   while not end_event.is_set():
-    last_scan = 0
-    curr_scan = sec_since_boot()
+    last_scan = 0.
+    curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
         stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
@@ -721,7 +720,7 @@ def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.
 
 
 def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
-  last_ping = int(sec_since_boot() * 1e9)
+  last_ping = int(time.monotonic() * 1e9)
   while not end_event.is_set():
     try:
       opcode, data = ws.recv_data(control_frame=True)
@@ -730,10 +729,10 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
           data = data.decode("utf-8")
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
-        last_ping = int(sec_since_boot() * 1e9)
+        last_ping = int(time.monotonic() * 1e9)
         Params().put("LastAthenaPingTime", str(last_ping))
     except WebSocketTimeoutException:
-      ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
+      ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
         cloudlog.exception("athenad.ws_recv.timeout")
         end_event.set()