From 8a530621b482d57aaf6797d9169abb055302f50d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 10 Dec 2023 00:10:53 +0800
Subject: [PATCH 01/50] camerad: Remove deprecated 'fps' parameter (#30662)

remove parameter fps
---
 system/camerad/cameras/camera_qcom2.cc | 8 ++++----
 system/camerad/cameras/camera_qcom2.h  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 194f11fe6d..7f2118e7e4 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -426,7 +426,7 @@ void CameraState::camera_map_bufs(MultiCameraState *s) {
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
@@ -618,9 +618,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_DRIVER);
-  s->road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_ROAD);
-  s->wide_road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);
+  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER);
+  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD);
+  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 3da5ec207d..d61c087f7c 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -50,7 +50,7 @@ public:
   void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
   void sensor_set_parameters();
   void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
   void camera_close();
 
   int32_t session_handle;

From aa744e84373ecacbbb45382e1a0e4cdd3d5c05fb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 10 Dec 2023 00:12:11 +0800
Subject: [PATCH 02/50] cabana: cleanp code (#30666)

---
 tools/cabana/dbc/dbc.h            |  4 +---
 tools/cabana/dbc/dbcfile.cc       |  9 ++-------
 tools/cabana/dbc/dbcfile.h        |  6 ++----
 tools/cabana/dbc/dbcmanager.cc    | 25 -------------------------
 tools/cabana/dbc/dbcmanager.h     |  7 +------
 tools/cabana/mainwin.cc           | 26 +++++++++-----------------
 tools/cabana/mainwin.h            |  1 -
 tools/cabana/tests/test_cabana.cc |  4 +---
 tools/cabana/util.cc              |  1 -
 9 files changed, 16 insertions(+), 67 deletions(-)

diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index e07903e680..0262a546f6 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -1,12 +1,10 @@
 #pragma once
 
 #include <limits>
-#include <string>
 #include <utility>
 #include <vector>
 
 #include <QColor>
-#include <QList>
 #include <QMetaType>
 #include <QString>
 
@@ -47,7 +45,7 @@ struct std::hash<MessageId> {
   std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
 };
 
-typedef QList<std::pair<double, QString>> ValueDescription;
+typedef std::vector<std::pair<double, QString>> ValueDescription;
 
 namespace cabana {
 
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index a22d979212..fbbb54fd58 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -52,8 +52,7 @@ void DBCFile::cleanupAutoSaveFile() {
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
-    file.write(generateDBC().toUtf8());
-    return true;
+    return file.write(generateDBC().toUtf8()) >= 0;
   }
   return false;
 }
@@ -77,10 +76,6 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-int DBCFile::signalCount() {
-  return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); });
-}
-
 void DBCFile::parse(const QString &content) {
   static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
   static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
@@ -226,7 +221,7 @@ QString DBCFile::generateDBC() {
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
-      if (!sig->val_desc.isEmpty()) {
+      if (!sig->val_desc.empty()) {
         QStringList text;
         for (auto &[val, desc] : sig->val_desc) {
           text << QString("%1 \"%2\"").arg(val).arg(desc);
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index ade6b249e2..551bac4946 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -27,10 +27,8 @@ public:
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
 
-  int signalCount();
-  inline int msgCount() { return msgs.size(); }
-  inline QString name() { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); }
+  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
 
   QString filename;
 
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 87a7d962c5..250ec225b5 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -106,12 +106,6 @@ QString DBCManager::newSignalName(const MessageId &id) {
   return m ? m->newSignalName() : "";
 }
 
-const std::vector<uint8_t> &DBCManager::mask(const MessageId &id) {
-  static std::vector<uint8_t> empty_mask;
-  auto m = msg(id);
-  return m ? m->mask : empty_mask;
-}
-
 const std::map<uint32_t, cabana::Msg> &DBCManager::getMessages(uint8_t source) {
   static std::map<uint32_t, cabana::Msg> empty_msgs;
   auto dbc_file = findDBCFile(source);
@@ -143,25 +137,6 @@ QStringList DBCManager::signalNames() {
   return ret;
 }
 
-int DBCManager::signalCount(const MessageId &id) {
-  auto m = msg(id);
-  return m ? m->sigs.size() : 0;
-}
-
-int DBCManager::signalCount() {
-  auto files = allDBCFiles();
-  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); });
-}
-
-int DBCManager::msgCount() {
-  auto files = allDBCFiles();
-  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); });
-}
-
-int DBCManager::dbcCount() {
-  return allDBCFiles().size();
-}
-
 int DBCManager::nonEmptyDBCCount() {
   auto files = allDBCFiles();
   return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); });
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 53a77a2c13..5f183752d2 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -4,7 +4,6 @@
 #include <memory>
 #include <map>
 #include <set>
-#include <vector>
 
 #include "tools/cabana/dbc/dbcfile.h"
 
@@ -34,17 +33,13 @@ public:
 
   QString newMsgName(const MessageId &id);
   QString newSignalName(const MessageId &id);
-  const std::vector<uint8_t>& mask(const MessageId &id);
 
   const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
   cabana::Msg *msg(const MessageId &id);
   cabana::Msg* msg(uint8_t source, const QString &name);
 
   QStringList signalNames();
-  int signalCount(const MessageId &id);
-  int signalCount();
-  int msgCount();
-  int dbcCount();
+  inline int dbcCount() { return allDBCFiles().size(); }
   int nonEmptyDBCCount();
 
   const SourceSet sources(const DBCFile *dbc_file) const;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index f7f2fba45f..410f3a65f4 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -46,7 +46,6 @@ MainWindow::MainWindow() : QMainWindow() {
   static auto static_main_win = this;
   qRegisterMetaType<uint64_t>("uint64_t");
   qRegisterMetaType<SourceSet>("SourceSet");
-  qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
   installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
     emit static_main_win->updateProgressBar(cur, total, success);
   });
@@ -54,9 +53,7 @@ MainWindow::MainWindow() : QMainWindow() {
     if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
     emit static_main_win->showMessage(msg, 2000);
   });
-  installMessageHandler([](ReplyMsgType type, const std::string msg) {
-    qInfo() << QString::fromStdString(msg);
-  });
+  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
 
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
@@ -329,7 +326,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
   bool ret = dbc()->open(s, "", dbc_str, &error);
-  if (ret && dbc()->msgCount() > 0) {
+  if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
@@ -356,7 +353,7 @@ void MainWindow::streamStarted() {
     video_splitter->setSizes({1, 1});
   }
   // Don't overwrite already loaded DBC
-  if (!dbc()->msgCount()) {
+  if (!dbc()->nonEmptyDBCCount()) {
     newFile();
   }
 
@@ -371,7 +368,7 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) {
+    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         // Prevent dialog that load autosaved file from blocking replay->start().
@@ -529,7 +526,6 @@ void MainWindow::updateRecentFiles(const QString &fn) {
 
 void MainWindow::updateRecentFileActions() {
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
-
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
     recent_files_acts[i]->setText(text);
@@ -543,15 +539,11 @@ void MainWindow::updateRecentFileActions() {
 }
 
 void MainWindow::remindSaveChanges() {
-  bool discard_changes = false;
-  while (!UndoStack::instance()->isClean() && !discard_changes) {
+  while (!UndoStack::instance()->isClean()) {
     QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard.");
-    int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel));
-    if (ret == QMessageBox::Ok) {
-      save();
-    } else {
-      discard_changes = true;
-    }
+    int ret = QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel);
+    if (ret != QMessageBox::Ok) break;
+    save();
   }
   UndoStack::instance()->clear();
 }
@@ -660,7 +652,7 @@ HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
 void HelpOverlay::paintEvent(QPaintEvent *event) {
   QPainter painter(this);
   painter.fillRect(rect(), QColor(0, 0, 0, 50));
-  MainWindow *parent = (MainWindow *)parentWidget();
+  auto parent = parentWidget();
   drawHelpForWidget(painter, parent->findChild<MessagesWidget *>());
   drawHelpForWidget(painter, parent->findChild<BinaryView *>());
   drawHelpForWidget(painter, parent->findChild<SignalView *>());
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 1a889b88c2..ea0bad5ea4 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -101,7 +101,6 @@ protected:
   int prev_undostack_index = 0;
   int prev_undostack_count = 0;
   QByteArray default_state;
-  friend class OnlineHelp;
 };
 
 class HelpOverlay : public QWidget {
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index c7dc91e7aa..bf7550be0b 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -3,9 +3,7 @@
 #include <QDir>
 
 #include "catch2/catch.hpp"
-#include "tools/replay/logreader.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/streams/abstractstream.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
@@ -14,7 +12,7 @@ TEST_CASE("DBCFile::generateDBC") {
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
-  REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
+  REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size());
   auto &msgs = dbc_origin.getMessages();
   auto &new_msgs = dbc_from_generated.getMessages();
   for (auto &[id, m] : msgs) {
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index f984230c47..a17961243f 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -12,7 +12,6 @@
 #include <QDateTime>
 #include <QFontDatabase>
 #include <QLocale>
-#include <QPainter>
 #include <QPixmapCache>
 
 #include "selfdrive/ui/qt/util.h"

From 97da129e11e58b07d5d136093827cd1c62311fea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Dec 2023 13:24:18 -0800
Subject: [PATCH 03/50] ruff: check newline (#30668)

* check newline

* nothing catches this
---
 common/basedir.py                               | 2 +-
 common/kalman/simple_kalman.py                  | 2 +-
 common/time.py                                  | 2 +-
 conftest.py                                     | 8 ++++----
 pyproject.toml                                  | 4 ++--
 selfdrive/boardd/tests/test_pandad.py           | 2 +-
 selfdrive/debug/auto_fingerprint.py             | 2 +-
 selfdrive/test/cpp_harness.py                   | 2 +-
 selfdrive/test/helpers.py                       | 2 +-
 selfdrive/test/process_replay/conftest.py       | 2 +-
 selfdrive/test/process_replay/helpers.py        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 2 +-
 selfdrive/ui/soundd.py                          | 2 +-
 system/hardware/hw.py                           | 2 +-
 tools/sim/bridge/carla/carla_bridge.py          | 2 +-
 tools/sim/bridge/metadrive/metadrive_process.py | 2 +-
 tools/sim/lib/camerad.py                        | 2 +-
 tools/sim/lib/common.py                         | 2 +-
 tools/sim/lib/simulated_car.py                  | 2 +-
 tools/sim/lib/simulated_sensors.py              | 2 +-
 20 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/common/basedir.py b/common/basedir.py
index c840b86f7f..6b4811e53c 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,4 +1,4 @@
 import os
 
 
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
\ No newline at end of file
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py
index 5e1b6ce1fb..cd3b5a1df9 100644
--- a/common/kalman/simple_kalman.py
+++ b/common/kalman/simple_kalman.py
@@ -9,4 +9,4 @@ def get_kalman_gain(dt, A, C, Q, R, iterations=100):
     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
\ No newline at end of file
+  return K
diff --git a/common/time.py b/common/time.py
index b9da106fd0..c8ef9cd383 100644
--- a/common/time.py
+++ b/common/time.py
@@ -3,4 +3,4 @@ import datetime
 MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
\ No newline at end of file
+  return datetime.datetime.now() > MIN_DATE
diff --git a/conftest.py b/conftest.py
index d1787c24ef..285d8b0238 100644
--- a/conftest.py
+++ b/conftest.py
@@ -52,7 +52,7 @@ def pytest_collection_modifyitems(config, items):
 
 @pytest.hookimpl(trylast=True)
 def pytest_configure(config):
-    config_line = (
-        "xdist_group_class_property: group tests by a property of the class that contains them"
-    )
-    config.addinivalue_line("markers", config_line)
\ No newline at end of file
+  config_line = (
+    "xdist_group_class_property: group tests by a property of the class that contains them"
+  )
+  config.addinivalue_line("markers", config_line)
diff --git a/pyproject.toml b/pyproject.toml
index ffbd5d43b7..0116cb4c5e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -181,7 +181,7 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
+ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
@@ -202,4 +202,4 @@ flake8-implicit-str-concat.allow-multiline=false
 "tools".msg = "Use openpilot.tools"
 
 [tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
\ No newline at end of file
+concurrency = ["multiprocessing", "thread"]
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 4036766faa..21cc0b5f37 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
\ No newline at end of file
+  unittest.main()
diff --git a/selfdrive/debug/auto_fingerprint.py b/selfdrive/debug/auto_fingerprint.py
index 78b109b0bd..10e438e546 100755
--- a/selfdrive/debug/auto_fingerprint.py
+++ b/selfdrive/debug/auto_fingerprint.py
@@ -102,4 +102,4 @@ if __name__ == "__main__":
   if not new_fw_versions:
     print("No new fw versions found...")
 
-  add_fw_versions(brand, platform, new_fw_versions)
\ No newline at end of file
+  add_fw_versions(brand, platform, new_fw_versions)
diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py
index a16b5707f5..f9d3e681a5 100755
--- a/selfdrive/test/cpp_harness.py
+++ b/selfdrive/test/cpp_harness.py
@@ -8,4 +8,4 @@ from openpilot.common.prefix import OpenpilotPrefix
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
\ No newline at end of file
+exit(ret)
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 552070f024..78b01c983f 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -71,4 +71,4 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
 
 def noop(*args, **kwargs):
-  pass
\ No newline at end of file
+  pass
diff --git a/selfdrive/test/process_replay/conftest.py b/selfdrive/test/process_replay/conftest.py
index 3f9744ed61..a78f37f392 100644
--- a/selfdrive/test/process_replay/conftest.py
+++ b/selfdrive/test/process_replay/conftest.py
@@ -34,4 +34,4 @@ def process_replay_test_arguments(request):
     request.cls.ignore_msgs = request.config.getoption("--ignore-msgs")
     request.cls.upload_only = request.config.getoption("--upload-only")
     request.cls.update_refs = request.config.getoption("--update-refs")
-    request.cls.long_diff = request.config.getoption("--long-diff")
\ No newline at end of file
+    request.cls.long_diff = request.config.getoption("--long-diff")
diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py
index 0952a01870..8e77454dae 100755
--- a/selfdrive/test/process_replay/helpers.py
+++ b/selfdrive/test/process_replay/helpers.py
@@ -147,4 +147,4 @@ class TestProcessReplayDiffBase(TestProcessReplayBase):
 
     diff_short, diff_long = format_process_diff(diff)
 
-    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
\ No newline at end of file
+    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index eb01e50e33..1517d9bab0 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -96,4 +96,4 @@ class TestCarProcessReplay(TestProcessReplayDiffBase):
 
 
 if __name__ == '__main__':
-  pytest.main([*sys.argv[1:], __file__])
\ No newline at end of file
+  pytest.main([*sys.argv[1:], __file__])
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 9d6d24a594..dc1b7061e1 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -158,4 +158,4 @@ def main():
 
 
 if __name__ == "__main__":
-  main()
\ No newline at end of file
+  main()
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 6c3d90345c..a8967520e3 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -53,4 +53,4 @@ class Paths:
     if PC:
       return Paths.comma_home()
     else:
-      return "/tmp/.comma"
\ No newline at end of file
+      return "/tmp/.comma"
diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py
index dc2377df30..fe7b34802f 100644
--- a/tools/sim/bridge/carla/carla_bridge.py
+++ b/tools/sim/bridge/carla/carla_bridge.py
@@ -19,4 +19,4 @@ class CarlaBridge(SimulatorBridge):
     client.set_timeout(5)
 
     return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
-                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
\ No newline at end of file
+                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 3d21c0e508..3ce89d7d41 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -96,4 +96,4 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re
       #  wide_road_image = get_cam_as_rgb("rgb_wide")
       road_image[...] = get_cam_as_rgb("rgb_road")
 
-    rk.keep_time()
\ No newline at end of file
+    rk.keep_time()
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index cc6f0cd664..95769dd44e 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -67,4 +67,4 @@ class Camerad:
                     0.0, 0.0, 1.0]
     }
     setattr(dat, pub_type, msg)
-    self.pm.send(pub_type, dat)
\ No newline at end of file
+    self.pm.send(pub_type, dat)
diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py
index b7aa66f5c5..29c5858d33 100644
--- a/tools/sim/lib/common.py
+++ b/tools/sim/lib/common.py
@@ -91,4 +91,4 @@ class World(ABC):
 
   @abstractmethod
   def reset(self):
-    pass
\ No newline at end of file
+    pass
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index ab60fad8d3..0740f9e3aa 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -116,4 +116,4 @@ class SimulatedCar:
     if self.idx % 50 == 0: # only send panda states at 2hz
       self.send_panda_state(simulator_state)
 
-    self.idx += 1
\ No newline at end of file
+    self.idx += 1
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index 764f99f4d5..faa8c0691b 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -122,4 +122,4 @@ class SimulatedSensors:
 
     if (now - self.last_perp_update) > 0.25:
       self.send_peripheral_state()
-      self.last_perp_update = now
\ No newline at end of file
+      self.last_perp_update = now

From ac83318ac4f54c46deef02c69d46c549bd741cb3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Dec 2023 14:28:32 -0800
Subject: [PATCH 04/50] test_models: randomize internal segment list (#30653)

* randomize internal seg list segments

* random

* pytest-randomly sets random.seed to a consistent value for all the workers/processes

* noeol

* update

* Revert "update"

This reverts commit aff9a69c4e5e3934deebaa33986b42f44b55b002.

* lock

* don't randomize by default

* remove random-order

* strict

* random

* one fix

* test

* does nothing

* rm tests

* Revert "rm tests"

This reverts commit b548e3fcd48e60538695506888d863c01b459d27.

* (can't repro locally) just athena should be fine

* bs1

* bs2

* bs3

* bs4

* bs5

* wrong way

* no controls

* no car

* no board

* controls?

* crazy -common

* Revert "crazy -common"

This reverts commit 02365d712b3d09cab1893cce2261a4b418bb3851.

* test athena

* test athena 2

* test athena 3

* test athena 4

* test athena 5

* test athena 6

* test athena 7

* test athena 8

* test athena 9

* ??

* in one commit

* common?

* car and board

* -controls -board

* random-order

* no board

* revert

* car/tests

* least likely

* try

* try 2

* draft

* draft

* so much better

* cmt

* use randomly

* not needed here

* directly modify option works

* bb

* test time

* Revert "test time"

This reverts commit 2c5caabe2b470b47b7322e37800680b92773fccc.

* tmut

* i concur

* revert
---
 conftest.py                        |  6 ++++++
 poetry.lock                        | 18 ++++++++----------
 pyproject.toml                     |  2 +-
 selfdrive/car/tests/test_models.py | 11 +++++------
 4 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/conftest.py b/conftest.py
index 285d8b0238..3c566e3672 100644
--- a/conftest.py
+++ b/conftest.py
@@ -6,6 +6,12 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.hardware import TICI
 
 
+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture():
   starting_env = dict(os.environ)
diff --git a/poetry.lock b/poetry.lock
index 1461d5457c..1ec3847b18 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -3309,8 +3309,6 @@ files = [
     {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
     {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
     {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@@ -3719,18 +3717,18 @@ colorama = "*"
 pytest = ">=7.0"
 
 [[package]]
-name = "pytest-random-order"
-version = "1.1.0"
-description = "Randomise the order in which pytest tests are run with some control over the randomness"
+name = "pytest-randomly"
+version = "3.15.0"
+description = "Pytest plugin to randomly order tests and control random.seed."
 optional = false
-python-versions = ">=3.5.0"
+python-versions = ">=3.8"
 files = [
-    {file = "pytest-random-order-1.1.0.tar.gz", hash = "sha256:dbe6debb9353a7af984cc9eddbeb3577dd4dbbcc1529a79e3d21f68ed9b45605"},
-    {file = "pytest_random_order-1.1.0-py3-none-any.whl", hash = "sha256:6cb1e59ab0f798bb0c3488c11ae0c70d7d3340306a466d28b28ccd8ef8c20b7e"},
+    {file = "pytest_randomly-3.15.0-py3-none-any.whl", hash = "sha256:0516f4344b29f4e9cdae8bce31c4aeebf59d0b9ef05927c33354ff3859eeeca6"},
+    {file = "pytest_randomly-3.15.0.tar.gz", hash = "sha256:b908529648667ba5e54723088edd6f82252f540cc340d748d1fa985539687047"},
 ]
 
 [package.dependencies]
-pytest = ">=3.0.0"
+pytest = "*"
 
 [[package]]
 name = "pytest-subtests"
@@ -5011,4 +5009,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676"
+content-hash = "7f7244a89280a41937066ebf80aa64fcb375852484c9d034ea7f2de3eae4d90a"
diff --git a/pyproject.toml b/pyproject.toml
index 0116cb4c5e..c6a13c4b86 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -151,7 +151,7 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
-pytest-random-order = "*"
+pytest-randomly = "*"
 ruff = "*"
 scipy = "*"
 sphinx = "*"
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 0ae104f9f5..aaaa6b9d79 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -3,6 +3,7 @@ import capnp
 import os
 import importlib
 import pytest
+import random
 import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
@@ -49,12 +50,10 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
     with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
       seg_list = f.read().splitlines()
 
-    cnt = INTERNAL_SEG_CNT or len(seg_list)
-    seg_list_iter = iter(seg_list[:cnt])
-
-    for platform in seg_list_iter:
-      platform = platform[2:]  # get rid of comment
-      segment_name = SegmentName(next(seg_list_iter))
+    seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
+    seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped))
+    for platform, segment in seg_list_grouped:
+      segment_name = SegmentName(segment)
       test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
                                                 segment=segment_name.segment_num)))
   return test_cases

From 6d9629b0e11e6d36b71530e7dbd1475acb30e280 Mon Sep 17 00:00:00 2001
From: TerryWloch <153369573+TerryWloch@users.noreply.github.com>
Date: Sat, 9 Dec 2023 23:35:15 +0100
Subject: [PATCH 05/50] VW: add missing FW for Skoda Kodiaq 2017 (#30665)

* Update values.py

Added FingerPrint for my Skoda Kodiaq 2017 14. tsi DSG 4x4

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index c8e6daaef8..38a6efeca8 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1265,6 +1265,7 @@ FW_VERSIONS = {
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x875NA906259E \xf1\x890003',
+      b'\xf1\x8704E906027LD\xf1\x893433',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
@@ -1275,6 +1276,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300014N \xf1\x892801',
       b'\xf1\x870GC300019H \xf1\x892806',
       b'\xf1\x870GC300046Q \xf1\x892802',
+      b'\xf1\x870D9300014S \xf1\x895201',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
@@ -1284,6 +1286,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
       b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
       b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1299,6 +1302,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
   CAR.SKODA_OCTAVIA_MK3: {

From 5051ff0b84845cbbacd31927461eac82fba90142 Mon Sep 17 00:00:00 2001
From: hanyiabc <hanyiabc@live.com>
Date: Sat, 9 Dec 2023 17:46:40 -0500
Subject: [PATCH 06/50] Added fingerprint for 22 Kia Stinger KIA_STINGER_2022
 (#30589)

* added fingerprint for my 22 kia stinger

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7c6fa7cb4f..9a62371601 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1140,6 +1140,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1149,17 +1150,20 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
       b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
       b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
       b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3',
     ],
   },
   CAR.PALISADE: {

From dd034bbfb7db198d07c05d927b60b0ceba453ea4 Mon Sep 17 00:00:00 2001
From: hodgiers <hodgiers@users.noreply.github.com>
Date: Sat, 9 Dec 2023 18:04:27 -0500
Subject: [PATCH 07/50] Volkswagen: Tiguan R-Line 2024 Fingerprint  (#30605)

* Update values.py

2024 Tiguan R Line

* Update values.py

Removed extraneous text

* already here

* Update values.py

Updating model year for Volkswagen Tiguan to include 2024.

* Update values.py

Correcting Tiguan fingerprint values

* Apply suggestions from code review

* Update selfdrive/car/volkswagen/values.py

---------

Co-authored-by: Hodge <rhodge@Hodge-MBP.local>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 38a6efeca8..08ee932fe6 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -843,6 +843,7 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115K \xf1\x890002',
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8783A907115  \xf1\x890007',
+      b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
@@ -851,6 +852,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158GD\xf1\x893820',
       b'\xf1\x8709G927158GM\xf1\x893936',
       b'\xf1\x8709G927158GN\xf1\x893938',
+      b'\xf1\x8709G927158HB\xf1\x894069',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',

From b3908e3c82f53ab998bdbef34a005d0a699c7448 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Dec 2023 15:05:06 -0800
Subject: [PATCH 08/50] Volkswagen: update MY for Tiguan

---
 docs/CARS.md                       | 2 +-
 selfdrive/car/volkswagen/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 647b1b15c5..65c93f9deb 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -276,7 +276,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |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 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 08ee932fe6..6a3baafa35 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -239,7 +239,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
   CAR.TIGUAN_MK2: [
-    VWCarInfo("Volkswagen Tiguan 2018-23"),
+    VWCarInfo("Volkswagen Tiguan 2018-24"),
     VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
   ],
   CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),

From e03f1282a864278ae6e2671e1996c7121ee5c92a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Dec 2023 17:13:36 -0800
Subject: [PATCH 09/50] bump panda (#30670)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 80782bcbe4..ff49666893 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 80782bcbe49705810d0859debeff18d86b2cc56e
+Subproject commit ff496668930af5f1a649759109732624cb313446

From 63bf098017c89a09f79059647deb90d1960f720d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Dec 2023 20:36:34 -0500
Subject: [PATCH 10/50] Hyundai CAN-FD Longitudinal: Enable for ICE camera-SCC
 cars (non-HDA2) (#30034)

* Hyundai CAN-FD Longitudinal: Enable for all camera-based SCC platforms (non-HDA2)

* allow ice camera scc longitudinal

* allow ice camera scc longitudinal

* Update docs

* Merge commaai#30021

* Update CARS.md

* revert unrelated changes

* add test route

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                       | 8 ++++----
 panda                              | 2 +-
 selfdrive/car/hyundai/interface.py | 3 +--
 selfdrive/car/tests/routes.py      | 1 +
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 65c93f9deb..515dcad4ae 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -99,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-23[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|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 D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -108,8 +108,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
 |Hyundai|Tucson Hybrid 2022-24[<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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
@@ -144,7 +144,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2021-23[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
diff --git a/panda b/panda
index ff49666893..0b8c477302 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ff496668930af5f1a649759109732624cb313446
+Subproject commit 0b8c477302af4a10da92f5ba1d7af2a84e2794a7
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 26b3491358..2127fc320f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -260,8 +260,7 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
-                                               (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR))
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 9802524886..33a7e9407a 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -157,6 +157,7 @@ routes = [
   CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
+  CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
   CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),

From 86ab1dca18c868e2689931b193041aa1f4ccf3e5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Dec 2023 17:37:48 -0800
Subject: [PATCH 11/50] bump

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 0b8c477302..a6b76dfda0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0b8c477302af4a10da92f5ba1d7af2a84e2794a7
+Subproject commit a6b76dfda0f2bcba51d68d56f013a318f9021fb9

From 13e5e708c28b40cdfcb2771e8d6c2d376cd09f8f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 11 Dec 2023 01:18:44 +0800
Subject: [PATCH 12/50] boardd: cleanup includes (#30674)

cleanup includes

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/boardd/boardd.cc | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 0ec33c1a27..61e2424744 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -1,11 +1,5 @@
 #include "selfdrive/boardd/boardd.h"
 
-#include <sched.h>
-#include <sys/cdefs.h>
-#include <sys/resource.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include <algorithm>
 #include <array>
 #include <atomic>
@@ -13,10 +7,6 @@
 #include <cassert>
 #include <cerrno>
 #include <chrono>
-#include <cmath>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
 #include <future>
 #include <memory>
 #include <thread>

From f09ee083a24e9928f7b43c271bfb9bee1f07e7e4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 Dec 2023 11:33:40 -0800
Subject: [PATCH 13/50] helper script for fixing up repo size (#30028)

* small

* mv
---
 scripts/build_small.sh | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100755 scripts/build_small.sh

diff --git a/scripts/build_small.sh b/scripts/build_small.sh
new file mode 100755
index 0000000000..d53c7a6c78
--- /dev/null
+++ b/scripts/build_small.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# git clone --mirror
+SRC=/tmp/openpilot.git/
+OUT=/tmp/smallpilot/
+
+echo "starting size $(du -hs .git/)"
+
+rm -rf $OUT
+
+cd $SRC
+git remote update
+
+# copy contents
+#rsync -a --exclude='.git/' $DIR $OUT
+
+cp -r $SRC $OUT
+
+cd $OUT
+
+# remove all tags
+git tag -l | xargs git tag -d
+
+# remove non-master branches
+BRANCHES="release2 dashcam dashcam3 release3 devel master-ci nightly"
+for branch in $BRANCHES; do
+  git branch -D $branch
+  git branch -D ${branch}-staging || true
+done
+
+#git gc
+git reflog expire --expire=now --all
+git gc --prune=now
+git gc --aggressive --prune=now
+echo "new one is $(du -hs .)"

From 3831bf19e47ed1ee09b2f4eb0341f8e879194880 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 Dec 2023 11:45:35 -0800
Subject: [PATCH 14/50] remove Qt wrapper scripts (#30454)

* remove Qt wrapper scripts

* revert those
---
 .gitignore                    | 1 -
 release/files_common          | 1 -
 selfdrive/test/test_onroad.py | 4 ++--
 selfdrive/ui/.gitignore       | 1 +
 selfdrive/ui/SConscript       | 2 +-
 selfdrive/ui/qt/util.cc       | 2 ++
 selfdrive/ui/ui               | 4 ----
 7 files changed, 6 insertions(+), 9 deletions(-)
 delete mode 100755 selfdrive/ui/ui

diff --git a/.gitignore b/.gitignore
index e414e4301a..3e91531d08 100644
--- a/.gitignore
+++ b/.gitignore
@@ -46,7 +46,6 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 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
diff --git a/release/files_common b/release/files_common
index 637f8bd7d7..10bfe4e1f1 100644
--- a/release/files_common
+++ b/release/files_common
@@ -285,7 +285,6 @@ selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
 selfdrive/ui/*.cc
 selfdrive/ui/*.h
-selfdrive/ui/ui
 selfdrive/ui/text
 selfdrive/ui/spinner
 selfdrive/ui/soundd.py
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b4121529d1..3c8e848fda 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ PROCS = {
   "./locationd": 11.0,
   "./mapsd": (1.0, 10.0),
   "selfdrive.controls.plannerd": 11.0,
-  "./_ui": 18.0,
+  "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 4.5,
@@ -303,7 +303,7 @@ class TestOnroad(unittest.TestCase):
     self.assertLessEqual(max(mems) - min(mems), 3.0)
 
   def test_gpu_usage(self):
-    self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
+    self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"})
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 8ad5d39493..99f9097905 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -3,6 +3,7 @@ moc_*
 
 translations/main_test_en.*
 
+ui
 watch3
 installer/installers/*
 qt/text
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index f0db1f63a7..b0f5a4f4a6 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -77,7 +77,7 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 # build main UI
-qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
+qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
 if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 78da183503..c5222b865f 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -112,6 +112,8 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
 #endif
   }
 
+  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
+
   setQtSurfaceFormat();
 }
 
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
deleted file mode 100755
index acb2a705a8..0000000000
--- a/selfdrive/ui/ui
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export QT_DBL_CLICK_DIST=150
-exec ./_ui

From 702c4392a448eff18eb64537fdf46e0741558b8b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 Dec 2023 12:10:40 -0800
Subject: [PATCH 15/50] three way merge

---
 scripts/apply-pr.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh
index 65805b8485..74f765391a 100755
--- a/scripts/apply-pr.sh
+++ b/scripts/apply-pr.sh
@@ -8,4 +8,4 @@ fi
 BASE="https://github.com/commaai/openpilot/pull/"
 PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
 
-curl -L $BASE/$PR_NUM.patch | git apply
+curl -L $BASE/$PR_NUM.patch | git apply -3

From 48cf7eb6d9700d8cdab52c1a28c7e05dc4527574 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 11 Dec 2023 04:12:27 +0800
Subject: [PATCH 16/50] ui/driverview: inherit from CameraWidget (#29769)

* refactor DriverViewWidow to inherit from CameraWidget

* emit done on visible

* merge master

* cleanup

* lock_guard

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/ui/qt/offroad/driverview.cc    | 61 +++++++-----------------
 selfdrive/ui/qt/offroad/driverview.h     | 33 ++-----------
 selfdrive/ui/translations/main_ar.ts     |  2 +-
 selfdrive/ui/translations/main_de.ts     |  2 +-
 selfdrive/ui/translations/main_fr.ts     |  2 +-
 selfdrive/ui/translations/main_ja.ts     |  2 +-
 selfdrive/ui/translations/main_ko.ts     |  2 +-
 selfdrive/ui/translations/main_pt-BR.ts  |  2 +-
 selfdrive/ui/translations/main_th.ts     |  2 +-
 selfdrive/ui/translations/main_tr.ts     |  2 +-
 selfdrive/ui/translations/main_zh-CHS.ts |  2 +-
 selfdrive/ui/translations/main_zh-CHT.ts |  2 +-
 12 files changed, 33 insertions(+), 81 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 693a0253b4..df9bb24651 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -3,62 +3,39 @@
 #include <algorithm>
 #include <QPainter>
 
-#include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 
 const int FACE_IMG_SIZE = 130;
 
-DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  layout = new QStackedLayout(this);
-  layout->setStackingMode(QStackedLayout::StackAll);
-
-  cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this);
-  layout->addWidget(cameraView);
-
-  scene = new DriverViewScene(this);
-  connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
-  layout->addWidget(scene);
-  layout->setCurrentWidget(scene);
-
-  QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView);
-}
-
-void DriverViewWindow::closeView() {
-  if (isVisible()) {
-    cameraView->stopVipcThread();
-    emit done();
-  }
-}
-
-void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
-  closeView();
-}
-
-DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) {
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
+  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
+  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
+    if (isVisible()) {
+      emit done();
+    }
+  });
 }
 
-void DriverViewScene::showEvent(QShowEvent* event) {
-  frame_updated = false;
+void DriverViewWindow::showEvent(QShowEvent* event) {
   params.putBool("IsDriverViewEnabled", true);
   device()->resetInteractiveTimeout(60);
+  CameraWidget::showEvent(event);
 }
 
-void DriverViewScene::hideEvent(QHideEvent* event) {
+void DriverViewWindow::hideEvent(QHideEvent* event) {
   params.putBool("IsDriverViewEnabled", false);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
 }
 
-void DriverViewScene::frameUpdated() {
-  frame_updated = true;
-  update();
-}
+void DriverViewWindow::paintGL() {
+  CameraWidget::paintGL();
 
-void DriverViewScene::paintEvent(QPaintEvent* event) {
+  std::lock_guard lk(frame_lock);
   QPainter p(this);
-
   // startup msg
-  if (!frame_updated) {
+  if (frames.empty()) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
     p.setFont(InterFont(100, QFont::Bold));
@@ -68,10 +45,8 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
 
   const auto &sm = *(uiState()->sm);
   cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
-  cereal::DriverStateV2::DriverData::Reader driver_data;
-
-  is_rhd = driver_state.getWheelOnRightProb() > 0.5;
-  driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+  bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
 
   bool face_detected = driver_data.getFaceProb() > 0.7;
   if (face_detected) {
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 8bfc7a4b7b..155e4ede32 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -1,44 +1,21 @@
 #pragma once
 
-#include <QStackedLayout>
-
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
-class DriverViewScene : public QWidget {
+class DriverViewWindow : public CameraWidget {
   Q_OBJECT
 
 public:
-  explicit DriverViewScene(QWidget *parent);
+  explicit DriverViewWindow(QWidget *parent);
 
-public slots:
-  void frameUpdated();
+signals:
+  void done();
 
 protected:
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
-  void paintEvent(QPaintEvent *event) override;
+  void paintGL() override;
 
-private:
   Params params;
   QPixmap face_img;
-  bool is_rhd = false;
-  bool frame_updated = false;
-};
-
-class DriverViewWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit DriverViewWindow(QWidget *parent);
-
-signals:
-  void done();
-
-protected:
-  void mouseReleaseEvent(QMouseEvent* e) override;
-  void closeView();
-
-  CameraWidget *cameraView;
-  DriverViewScene *scene;
-  QStackedLayout *layout;
 };
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 4159f28c31..dc771b8c6e 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>بدء تشغيل الكاميرا</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index e2e5771905..498d4c4438 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>Kamera startet</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 456efe6366..5ae3acdc1e 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>démarrage de la caméra</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 63de8f0471..d01657f8e4 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>ｶﾒﾗを起動しています</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index bc0c5f2b0e..d2d6a4ddc1 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>카메라 시작 중</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 4cf37cc585..04458974cb 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>câmera iniciando</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index a1748a6951..5f77f6c9de 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>กำลังเปิดกล้อง</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 51fdddd5ce..f8a76669a2 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>kamera başlatılıyor</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 7b682535ce..371106d571 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>正在启动相机</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 1794cc78ac..6aa6295ce2 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -275,7 +275,7 @@
     </message>
 </context>
 <context>
-    <name>DriverViewScene</name>
+    <name>DriverViewWindow</name>
     <message>
         <source>camera starting</source>
         <translation>開啟相機中</translation>

From 84a3b10da94f6483caf94a52d76c674e62307e77 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 10 Dec 2023 19:46:41 -0500
Subject: [PATCH 17/50] cabana: fix typo (#30678)

---
 tools/cabana/messageswidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index aba655d66f..0cec551017 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -151,7 +151,7 @@ void MessagesWidget::menuAboutToShow() {
     action->setEnabled(logical_index > 0);
   }
   menu->addSeparator();
-  auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
+  auto action = menu->addAction(tr("Multi-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
 }

From 5a518243dda04b5df8efdfb2b48351297fb181b0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Dec 2023 09:28:47 -0800
Subject: [PATCH 18/50] Bump submodules (#30682)

bump submodules

Co-authored-by: jnewb1 <jnewb1@users.noreply.github.com>
---
 cereal  | 2 +-
 opendbc | 2 +-
 panda   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index a3a6e4969e..d11688a90a 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit a3a6e4969e58875f7cdfc9e6cc6b1af3ee2392b5
+Subproject commit d11688a90a1cebacb3fe00dcfbba5f27551b2d89
diff --git a/opendbc b/opendbc
index 5b0c73977f..93b983d49a 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5b0c73977f1428700d0344d52874a90a4c5168fb
+Subproject commit 93b983d49a2d6d5c67e15ce7650f55e4f121485d
diff --git a/panda b/panda
index a6b76dfda0..a88fe8c883 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a6b76dfda0f2bcba51d68d56f013a318f9021fb9
+Subproject commit a88fe8c883758951ba2854eb2f6726d5365df099

From 7b5d4d031adb0e2fecf36772bbbb95e2989b9cc7 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 11 Dec 2023 14:46:56 -0800
Subject: [PATCH 19/50] Revert "Process Replay: move to pytest (#30260)"
 (#30687)

This reverts commit 90c873ab1def0756f6f91fcb7f2d6fad503e3f49.
---
 .github/workflows/selfdrive_tests.yaml        |  26 +-
 common/prefix.py                              |   1 -
 selfdrive/test/process_replay/conftest.py     |  37 ---
 selfdrive/test/process_replay/helpers.py      | 150 ------------
 selfdrive/test/process_replay/regen_all.py    |   3 +-
 .../test/process_replay/test_processes.py     | 223 ++++++++++++++----
 6 files changed, 195 insertions(+), 245 deletions(-)
 delete mode 100644 selfdrive/test/process_replay/conftest.py
 delete mode 100755 selfdrive/test/process_replay/helpers.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 94e6304539..c0a72924e4 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -208,20 +208,30 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      id: run-replay
       timeout-minutes: 30
       run: |
-        ${{ env.RUN }} "CI=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --long-diff && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v3
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
       with:
         name: ${{ github.job }}
-    - name: Upload reference logs
-      if: ${{ failure() && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' \
-                        pytest -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --upload-only"
 
   regen:
     name: regen
diff --git a/common/prefix.py b/common/prefix.py
index c5ae4393cd..c1744e8ff7 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -21,7 +21,6 @@ class OpenpilotPrefix:
     except FileExistsError:
       pass
     os.makedirs(Paths.log_root(), exist_ok=True)
-    os.makedirs(Paths.download_cache_root(), exist_ok=True)
 
     return self
 
diff --git a/selfdrive/test/process_replay/conftest.py b/selfdrive/test/process_replay/conftest.py
deleted file mode 100644
index a78f37f392..0000000000
--- a/selfdrive/test/process_replay/conftest.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import pytest
-
-from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS
-from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS
-
-
-def pytest_addoption(parser: pytest.Parser):
-  parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS,
-                      help="Whitelist given processes from the test (e.g. controlsd)")
-  parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS,
-                      help="Whitelist given cars from the test (e.g. HONDA)")
-  parser.addoption("--blacklist-procs", type=str, nargs="*", default=[],
-                      help="Blacklist given processes from the test (e.g. controlsd)")
-  parser.addoption("--blacklist-cars", type=str, nargs="*", default=[],
-                      help="Blacklist given cars from the test (e.g. HONDA)")
-  parser.addoption("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
-  parser.addoption("--ignore-msgs", type=str, nargs="*", default=[],
-                      help="Msgs to ignore (e.g. onroadEvents)")
-  parser.addoption("--update-refs", action="store_true",
-                      help="Updates reference logs using current commit")
-  parser.addoption("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
-  parser.addoption("--long-diff", action="store_true",
-                      help="Outputs diff in long format")
-
-
-@pytest.fixture(scope="class", autouse=True)
-def process_replay_test_arguments(request):
-  if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase
-    request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs")))
-    request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))})
-    request.cls.ignore_fields = request.config.getoption("--ignore-fields")
-    request.cls.ignore_msgs = request.config.getoption("--ignore-msgs")
-    request.cls.upload_only = request.config.getoption("--upload-only")
-    request.cls.update_refs = request.config.getoption("--update-refs")
-    request.cls.long_diff = request.config.getoption("--long-diff")
diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py
deleted file mode 100755
index 8e77454dae..0000000000
--- a/selfdrive/test/process_replay/helpers.py
+++ /dev/null
@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import unittest
-
-from parameterized import parameterized
-from typing import Optional, Union, List
-
-
-from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process
-from openpilot.system.version import get_commit
-from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
-EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
-
-
-def get_log_data(segment):
-  r, n = segment.rsplit("--", 1)
-  with FileReader(get_url(r, n)) as f:
-    return f.read()
-
-
-ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS})
-PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS}
-
-cpu_count = os.cpu_count() or 1
-
-
-class TestProcessReplayBase(unittest.TestCase):
-  """
-  Base class that replays all processes within test_proceses from a segment,
-  and puts the log messages in self.log_msgs for analysis by other tests.
-  """
-  segment: Optional[Union[str, LogIterable]] = None
-  tested_procs: List[str] = ALL_PROCS
-
-  @classmethod
-  def setUpClass(cls, create_logs=True):
-    if "Base" in cls.__name__:
-      raise unittest.SkipTest("skipping base class")
-
-    if isinstance(cls.segment, str):
-      cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment))
-    else:
-      cls.log_reader = cls.segment
-
-    if create_logs:
-      cls._create_log_msgs()
-
-  @classmethod
-  def _run_replay(cls, cfg):
-    try:
-      return replay_process(cfg, cls.log_reader, disable_progress=True)
-    except Exception as e:
-      raise Exception(f"failed on segment: {cls.segment} \n{e}") from e
-
-  @classmethod
-  def _create_log_msgs(cls):
-    cls.log_msgs = {}
-    cls.proc_cfg = {}
-
-    for proc in cls.tested_procs:
-      cfg = PROC_TO_CFG[proc]
-
-      log_msgs = cls._run_replay(cfg)
-
-      cls.log_msgs[proc] = log_msgs
-      cls.proc_cfg[proc] = cfg
-
-
-class TestProcessReplayDiffBase(TestProcessReplayBase):
-  """
-  Base class for checking for diff between process outputs.
-  """
-  update_refs = False
-  upload_only = False
-  long_diff = False
-  ignore_msgs: List[str] = []
-  ignore_fields: List[str] = []
-
-  def setUp(self):
-    super().setUp()
-    if self.upload_only:
-      raise unittest.SkipTest("skipping test, uploading only")
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass(not cls.upload_only)
-
-    if cls.long_diff:
-      cls.maxDiff = None
-
-    os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
-
-    cls.cur_commit = get_commit()
-    cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit")
-
-    cls.upload = cls.update_refs or cls.upload_only
-
-    try:
-      with open(REF_COMMIT_FN) as f:
-        cls.ref_commit = f.read().strip()
-    except FileNotFoundError:
-      print("Couldn't find reference commit")
-      sys.exit(1)
-
-    cls._create_ref_log_msgs()
-
-  @classmethod
-  def _create_ref_log_msgs(cls):
-    cls.ref_log_msgs = {}
-
-    for proc in cls.tested_procs:
-      cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2")
-      if cls.update_refs:  # reference logs will not exist if routes were just regenerated
-        ref_log_path = get_url(*cls.segment.rsplit("--", 1))
-      else:
-        ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2")
-        ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
-
-      if not cls.upload_only:
-        save_log(cur_log_fn, cls.log_msgs[proc])
-        cls.ref_log_msgs[proc] = list(LogReader(ref_log_path))
-
-      if cls.upload:
-        assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-        upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-        os.remove(cur_log_fn)
-
-  @parameterized.expand(ALL_PROCS)
-  def test_process_diff(self, proc):
-    if proc not in self.tested_procs:
-      raise unittest.SkipTest(f"{proc} was not requested to be tested")
-
-    cfg = self.proc_cfg[proc]
-    log_msgs = self.log_msgs[proc]
-    ref_log_msgs = self.ref_log_msgs[proc]
-
-    diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs)
-
-    diff_short, diff_long = format_process_diff(diff)
-
-    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index 070cb5f783..656a5b89e1 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -8,8 +8,7 @@ from tqdm import tqdm
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.test.process_replay.regen import regen_and_save
-from openpilot.selfdrive.test.process_replay.process_replay import FAKEDATA
-from openpilot.selfdrive.test.process_replay.test_processes import source_segments as segments
+from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
 from openpilot.tools.lib.route import SegmentName
 
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 1517d9bab0..5429c9b63e 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -1,15 +1,20 @@
 #!/usr/bin/env python3
-import unittest
-import pytest
+import argparse
+import concurrent.futures
+import os
 import sys
-
-from parameterized import parameterized_class
-from typing import List, Optional
+from collections import defaultdict
+from tqdm import tqdm
+from typing import Any, DefaultDict, Dict
 
 from openpilot.selfdrive.car.car_helpers import interface_names
-from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
-from openpilot.selfdrive.test.process_replay.helpers import TestProcessReplayDiffBase
-
+from openpilot.selfdrive.test.openpilotci import get_url, upload_file
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
+from openpilot.system.version import get_commit
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.helpers import save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
@@ -58,42 +63,166 @@ segments = [
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "tesla"]
 
-ALL_CARS = sorted({car for car, _ in segments})
-
-
-@pytest.mark.slow
-@parameterized_class(('case_name', 'segment'), segments)
-@pytest.mark.xdist_group_class_property('case_name')
-class TestCarProcessReplay(TestProcessReplayDiffBase):
-  """
-  Runs a replay diff on a segment for each car.
-  """
-
-  case_name: Optional[str] = None
-  tested_cars: List[str] = ALL_CARS
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.case_name not in cls.tested_cars:
-      raise unittest.SkipTest(f"{cls.case_name} was not requested to be tested")
-    super().setUpClass()
-
-  def test_all_makes_are_tested(self):
-    if set(self.tested_cars) != set(ALL_CARS):
-      raise unittest.SkipTest("skipping check because some cars were skipped via command line")
-
-    # check to make sure all car brands are tested
-    untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in self.tested_cars}
-    self.assertEqual(len(untested), 0, f"Cars missing routes: {str(untested)}")
-
-  def test_controlsd_engaged(self):
-    if "controlsd" not in self.tested_procs:
-      raise unittest.SkipTest("controlsd was not requested to be tested")
-
-    # check to make sure openpilot is engaged in the route
-    log_msgs = self.log_msgs["controlsd"]
-    self.assertTrue(check_openpilot_enabled(log_msgs), f"Route did not enable at all or for long enough: {self.segment}")
-
-
-if __name__ == '__main__':
-  pytest.main([*sys.argv[1:], __file__])
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
+EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
+
+
+def run_test_process(data):
+  segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
+  res = None
+  if not args.upload_only:
+    lr = LogReader.from_bytes(lr_dat)
+    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+    # save logs so we can upload when updating refs
+    save_log(cur_log_fn, log_msgs)
+
+  if args.update_refs or args.upload_only:
+    print(f'Uploading: {os.path.basename(cur_log_fn)}')
+    assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
+    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
+    os.remove(cur_log_fn)
+  return (segment, cfg.proc_name, res)
+
+
+def get_log_data(segment):
+  r, n = segment.rsplit("--", 1)
+  with FileReader(get_url(r, n)) as f:
+    return (segment, f.read())
+
+
+def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+  if ignore_fields is None:
+    ignore_fields = []
+  if ignore_msgs is None:
+    ignore_msgs = []
+
+  ref_log_msgs = list(LogReader(ref_log_path))
+
+  try:
+    log_msgs = replay_process(cfg, lr, disable_progress=True)
+  except Exception as e:
+    raise Exception("failed on segment: " + segment) from e
+
+  # check to make sure openpilot is engaged in the route
+  if cfg.proc_name == "controlsd":
+    if not check_openpilot_enabled(log_msgs):
+      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
+
+  try:
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
+  except Exception as e:
+    return str(e), log_msgs
+
+
+if __name__ == "__main__":
+  all_cars = {car for car, _ in segments}
+  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
+
+  cpu_count = os.cpu_count() or 1
+
+  parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
+  parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,
+                      help="Whitelist given processes from the test (e.g. controlsd)")
+  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
+                      help="Whitelist given cars from the test (e.g. HONDA)")
+  parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
+                      help="Blacklist given processes from the test (e.g. controlsd)")
+  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
+                      help="Blacklist given cars from the test (e.g. HONDA)")
+  parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
+                      help="Extra fields or msgs to ignore (e.g. carState.events)")
+  parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
+                      help="Msgs to ignore (e.g. carEvents)")
+  parser.add_argument("--update-refs", action="store_true",
+                      help="Updates reference logs using current commit")
+  parser.add_argument("--upload-only", action="store_true",
+                      help="Skips testing processes and uploads logs from previous test run")
+  parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
+                      help="Max amount of parallel jobs")
+  args = parser.parse_args()
+
+  tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
+  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
+  tested_cars = {c.upper() for c in tested_cars}
+
+  full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
+  upload = args.update_refs or args.upload_only
+  os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
+
+  if upload:
+    assert full_test, "Need to run full test when updating refs"
+
+  try:
+    ref_commit = open(REF_COMMIT_FN).read().strip()
+  except FileNotFoundError:
+    print("Couldn't find reference commit")
+    sys.exit(1)
+
+  cur_commit = get_commit()
+  if cur_commit is None:
+    raise Exception("Couldn't get current commit")
+
+  print(f"***** testing against commit {ref_commit} *****")
+
+  # check to make sure all car brands are tested
+  if full_test:
+    untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
+    assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
+
+  log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
+  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
+    if not args.upload_only:
+      download_segments = [seg for car, seg in segments if car in tested_cars]
+      log_data: Dict[str, LogReader] = {}
+      p1 = pool.map(get_log_data, download_segments)
+      for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
+        log_data[segment] = lr
+
+    pool_args: Any = []
+    for car_brand, segment in segments:
+      if car_brand not in tested_cars:
+        continue
+
+      for cfg in CONFIGS:
+        if cfg.proc_name not in tested_procs:
+          continue
+
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        if args.update_refs:  # reference logs will not exist if routes were just regenerated
+          ref_log_path = get_url(*segment.rsplit("--", 1))
+        else:
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
+
+        dat = None if args.upload_only else log_data[segment]
+        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
+
+        log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
+        log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
+
+    results: Any = defaultdict(dict)
+    p2 = pool.map(run_test_process, pool_args)
+    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+      if not args.upload_only:
+        results[segment][proc] = result
+
+  diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
+  if not upload:
+    with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
+      f.write(diff_long)
+    print(diff_short)
+
+    if failed:
+      print("TEST FAILED")
+      print("\n\nTo push the new reference logs for this commit run:")
+      print("./test_processes.py --upload-only")
+    else:
+      print("TEST SUCCEEDED")
+
+  else:
+    with open(REF_COMMIT_FN, "w") as f:
+      f.write(cur_commit)
+    print(f"\n\nUpdated reference logs for commit: {cur_commit}")
+
+  sys.exit(int(failed))

From 804973155344f39e839e5d11669db42287f866d6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 11 Dec 2023 15:38:59 -0800
Subject: [PATCH 20/50] run_process_on_route: qlog and fingerprint options
 (#30688)

Add --qlog and --fingerprint options for run_process_on_route
---
 selfdrive/debug/run_process_on_route.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index c7b6250d3f..8209b409ca 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -10,6 +10,8 @@ from openpilot.tools.lib.helpers import save_log
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--qlog", help="Use qlog instead of log", action="store_true")
+  parser.add_argument("--fingerprint", help="The fingerprint to use")
   parser.add_argument("route", help="The route name to use")
   parser.add_argument("process", help="The process to run")
   args = parser.parse_args()
@@ -17,10 +19,10 @@ if __name__ == "__main__":
   cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
 
   route = Route(args.route)
-  lr = MultiLogIterator(route.log_paths())
+  lr = MultiLogIterator(route.qlog_paths() if args.qlog else route.log_paths())
   inputs = list(lr)
 
-  outputs = replay_process(cfg, inputs)
+  outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
 
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}

From 76c53e4742850966906b1ba10e5faf7b457503fc Mon Sep 17 00:00:00 2001
From: Lukejb14 <Lukejb14@users.noreply.github.com>
Date: Mon, 11 Dec 2023 18:41:51 -0500
Subject: [PATCH 21/50] Add 2021 Mazda CX-5 engine fingerprint (#30616)

---
 selfdrive/car/mazda/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 1547f69b04..4dc5726f34 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -132,6 +132,7 @@ FW_VERSIONS = {
       b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

From 3a707082286cec9c93280c202ebbf5d5b89aac94 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Dec 2023 16:21:07 -0800
Subject: [PATCH 22/50] Revert "remove extra sleep", weston is fixed but a
 couple other things relied on this

This reverts commit d2d4802ad034a19dd34d5c0cf0c432912bc306b9.
---
 launch_chffrplus.sh | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index a91bd677aa..7578c0296a 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,6 +9,11 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 5
+  fi
+
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 

From b0831fb117dde77334b6355975011611afc5d76f Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 11 Dec 2023 17:25:37 -0800
Subject: [PATCH 23/50] soundd/micd: increase stream buffer size (#30685)

* increase buffer

* update cpu refs

* go to 100ms

* correct spot
---
 selfdrive/test/test_onroad.py | 4 ++--
 selfdrive/ui/soundd.py        | 5 +++--
 system/micd.py                | 5 +++--
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 3c8e848fda..d7c5c58280 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -46,13 +46,13 @@ PROCS = {
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
-  "selfdrive.ui.soundd": 5.8,
+  "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
-  "system.micd": 10.0,
+  "system.micd": 6.0,
   "system.timezoned": 0,
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index dc1b7061e1..5ac503aadf 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -16,6 +16,7 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
 SAMPLE_RATE = 48000
+SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
 CONTROLS_TIMEOUT = 5 # 5 seconds
@@ -133,11 +134,11 @@ class Soundd:
     if TICI:
       micd.wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
       rk = Ratekeeper(20)
       sm = messaging.SubMaster(['controlsState', 'microphone'])
 
-      cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
+      cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         sm.update(0)
 
diff --git a/system/micd.py b/system/micd.py
index f4085becd4..baf75c17b9 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -11,6 +11,7 @@ RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
+SAMPLE_BUFFER = 4096 # (approx 100ms)
 
 
 @retry(attempts=7, delay=3)
@@ -98,8 +99,8 @@ class Mic:
     if TICI:
       wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback)  as stream:
-      cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
+    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
+      cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         self.update()
 

From 4028cb6121ffd1f92463cfc109593b17abe3aa8c Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 11 Dec 2023 19:24:01 -0800
Subject: [PATCH 24/50] FW query timing test: mock get_data function for
 timeout (#29712)

* use a mock function to simulate timeout

* Cleanup

* Cleanup

* clean refs

* tolerance can also go down

* fix

* better name

revert refs

* use unittest

* revert

* Revert "use unittest"

This reverts commit 7a1d6a6fc72fa129a66590e0e5998c2438ecbe55.

* order

* local

* use a context

* revert

* stress test it

* let's try

* it's consistent

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/tests/test_fw_fingerprint.py | 24 ++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 5721896787..d4cd6315f2 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,6 +5,7 @@ import time
 import unittest
 from collections import defaultdict
 from parameterized import parameterized
+from unittest import mock
 import threading
 
 from cereal import car
@@ -176,7 +177,7 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.12
+  TOL: float = 0.1
 
   @staticmethod
   def _run_thread(thread: threading.Thread) -> float:
@@ -191,12 +192,19 @@ class TestFwFingerprintTiming(unittest.TestCase):
     return time.perf_counter() - t
 
   def _benchmark_brand(self, brand, num_pandas):
-    fake_socket = FakeSocket()
-    brand_time = 0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
-                                kwargs=dict(num_pandas=num_pandas))
-      brand_time += self._run_thread(thread)
+    def fake_get_data(_, timeout):
+      nonlocal fake_timeout_time
+      fake_timeout_time += timeout
+      return {}
+
+    with mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", fake_get_data):
+      fake_socket = FakeSocket()
+      brand_time = 0
+      for _ in range(self.N):
+        fake_timeout_time = 0
+        thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                  kwargs=dict(num_pandas=num_pandas))
+        brand_time += self._run_thread(thread) + fake_timeout_time
 
     return brand_time / self.N
 
@@ -227,7 +235,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.41
+    total_ref_time = 6.58
     brand_ref_times = {
       1: {
         'body': 0.11,

From d2583d64f0ce997bdc7413f091f794ac3d704d4b Mon Sep 17 00:00:00 2001
From: Sparkguys <147584184+Sparkguys@users.noreply.github.com>
Date: Tue, 12 Dec 2023 12:25:55 +0900
Subject: [PATCH 25/50] Update values.py for VW Passat MK8 (#30646)

Update values.py

Added FW for Passat MK8
---
 selfdrive/car/volkswagen/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6a3baafa35..13508aa1fb 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -667,6 +667,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026GA\xf1\x892013',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906259  \xf1\x890004',
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -682,6 +683,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300042H \xf1\x891607',
       b'\xf1\x870GC300042H \xf1\x891404',
       b'\xf1\x870D9300018C \xf1\x895297',
+      b'\xf1\x870D9300042H \xf1\x894901',
       b'\xf1\x870GC300043  \xf1\x892301',
     ],
     (Ecu.srs, 0x715, None): [
@@ -696,6 +698,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
     ],
     (Ecu.eps, 0x712, None): [
@@ -709,6 +712,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
     ],
     (Ecu.fwdRadar, 0x757, None): [
@@ -718,6 +722,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0907572C \xf1\x890195',
       b'\xf1\x873Q0907572C \xf1\x890196',
       b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x873Q0907572B \xf1\x890194',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },

From 9807bd99dbc526ba92bb68c503d5108b9f892dd1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 11 Dec 2023 23:32:36 -0500
Subject: [PATCH 26/50] HKG: Car Port for Kia Niro Plug-in Hybrid 2022 (#30576)

* HKG: Car Port for Kia Niro Plug-in Hybrid 2022

* Update CARS.md and add test route

* add to releases

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 RELEASES.md                               |  1 +
 docs/CARS.md                              |  3 ++-
 selfdrive/car/hyundai/interface.py        |  2 +-
 selfdrive/car/hyundai/values.py           | 22 +++++++++++++++++++++-
 selfdrive/car/tests/routes.py             |  1 +
 selfdrive/car/torque_data/substitute.yaml |  1 +
 6 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 07f70cdaff..e9864a0d58 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.9.6 (2023-12-14)
 ========================
 * AGNOS 9
 * comma body streaming and controls over WebRTC
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Toyota RAV4 2023 support
 * Toyota RAV4 Hybrid 2023 support
 
diff --git a/docs/CARS.md b/docs/CARS.md
index 515dcad4ae..2bec3dfb50 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 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.
 
-# 271 Supported Cars
+# 272 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -135,6 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 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 F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2127fc320f..d04743502c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1985.
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022):
       ret.mass = 3543. * CV.LB_TO_KG  # average of all the cars
       ret.wheelbase = 2.7
       ret.steerRatio = 13.6  # average of all the cars
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 9a62371601..c5162786a6 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -112,6 +112,7 @@ class CAR(StrEnum):
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
@@ -248,6 +249,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   ],
+  CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
   ],
@@ -1623,6 +1625,23 @@ FW_VERSIONS = {
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
     ],
   },
+  CAR.KIA_NIRO_PHEV_2022: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.00 99110-G5600         ',
+    ],
+  },
   CAR.KIA_NIRO_HEV_2021: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -2144,7 +2163,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
               CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
-              CAR.AZERA_HEV_6TH_GEN}
+              CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@@ -2227,4 +2246,5 @@ DBC = {
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 33a7e9407a..66dafc1312 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -153,6 +153,7 @@ routes = [
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
+  CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022),
   CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
   CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index c7a1566b32..242a38b3d0 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -20,6 +20,7 @@ KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
 KIA SELTOS 2021: HYUNDAI SONATA 2020
 KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO PLUG-IN HYBRID 2022: KIA NIRO EV 2020
 KIA NIRO HYBRID 2021: KIA NIRO EV 2020
 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019

From 11ec5bf25e82e53bbefa88643c81ab5b7581e913 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 11 Dec 2023 20:38:37 -0800
Subject: [PATCH 27/50] Simulator: remove carla (#30690)

* no carla

* no arg and stylize metadrive
---
 .devcontainer/devcontainer.json        |   1 -
 README.md                              |   2 +-
 poetry.lock                            |  56 +++-------
 pyproject.toml                         |   6 -
 tools/sim/README.md                    |  39 +------
 tools/sim/bridge/carla/carla_bridge.py |  22 ----
 tools/sim/bridge/carla/carla_world.py  | 145 -------------------------
 tools/sim/lib/simulated_sensors.py     |   7 +-
 tools/sim/run_bridge.py                |  18 +--
 tools/sim/start_carla.sh               |  34 ------
 tools/sim/start_openpilot_docker.sh    |   2 +-
 tools/sim/tests/test_carla_bridge.py   |  45 --------
 tools/sim/tests/test_sim_bridge.py     |   8 +-
 tools/sim/tmux_script.sh               |   6 -
 14 files changed, 31 insertions(+), 360 deletions(-)
 delete mode 100644 tools/sim/bridge/carla/carla_bridge.py
 delete mode 100644 tools/sim/bridge/carla/carla_world.py
 delete mode 100755 tools/sim/start_carla.sh
 delete mode 100755 tools/sim/tests/test_carla_bridge.py
 delete mode 100755 tools/sim/tmux_script.sh

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index a0ff582e68..a7a63658ed 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -11,7 +11,6 @@
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
     "TERM": "xterm-256color",
-    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
diff --git a/README.md b/README.md
index 7d051ada14..d85d1e5676 100644
--- a/README.md
+++ b/README.md
@@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa
 
 With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
+You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
 A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 
diff --git a/poetry.lock b/poetry.lock
index 1ec3847b18..44e07568b3 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -346,20 +346,6 @@ files = [
 docutils = ">=0.12"
 Sphinx = ">=4.0,<5.0.0 || >5.0.0"
 
-[[package]]
-name = "carla"
-version = "0.9.14"
-description = "Python API for communicating with the CARLA server."
-optional = false
-python-versions = "*"
-files = [
-    {file = "carla-0.9.14-cp311-cp311-linux_x86_64.whl", hash = "sha256:f0a8ce0c760d1fef3577e2ef90e9d468e3d85e65bd6d68b44bce51f0d5a0723a"},
-]
-
-[package.source]
-type = "url"
-url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl"
-
 [[package]]
 name = "casadi"
 version = "3.6.3"
@@ -2081,16 +2067,6 @@ files = [
     {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
     {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
     {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f698de3fd0c4e6972b92290a45bd9b1536bffe8c6759c62471efaa8acb4c37bc"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:aa57bd9cf8ae831a362185ee444e15a93ecb2e344c8e52e4d721ea3ab6ef1823"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ffcc3f7c66b5f5b7931a5aa68fc9cecc51e685ef90282f4a82f0f5e9b704ad11"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47d4f1c5f80fc62fdd7777d0d40a2e9dda0a05883ab11374334f6c4de38adffd"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1f67c7038d560d92149c060157d623c542173016c4babc0c1913cca0564b9939"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:9aad3c1755095ce347e26488214ef77e0485a3c34a50c5a5e2471dff60b9dd9c"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:14ff806850827afd6b07a5f32bd917fb7f45b046ba40c57abdb636674a8b559c"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8f9293864fe09b8149f0cc42ce56e3f0e54de883a9de90cd427f191c346eb2e1"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-win32.whl", hash = "sha256:715d3562f79d540f251b99ebd6d8baa547118974341db04f5ad06d5ea3eb8007"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-win_amd64.whl", hash = "sha256:1b8dd8c3fd14349433c79fa8abeb573a55fc0fdd769133baac1f5e07abf54aeb"},
     {file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
     {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
     {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
@@ -2671,7 +2647,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "opencv-python-headless"
@@ -2690,7 +2673,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "packaging"
@@ -3869,7 +3859,6 @@ files = [
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
-    {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
     {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
     {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
     {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
@@ -3877,15 +3866,8 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
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     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
-    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
     {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
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-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
-    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
@@ -3902,7 +3884,6 @@ files = [
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     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
-    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
     {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
     {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
     {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@@ -3910,7 +3891,6 @@ files = [
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
-    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
     {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
     {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -5009,4 +4989,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "7f7244a89280a41937066ebf80aa64fcb375852484c9d034ea7f2de3eae4d90a"
+content-hash = "08910461234279f3339c1692bd0cc2732f6e17f61ca9e3ffa53d461526e3dce4"
diff --git a/pyproject.toml b/pyproject.toml
index c6a13c4b86..58c506e378 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -168,12 +168,6 @@ types-tabulate = "*"
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
-[tool.poetry.group.carla]
-optional = true
-
-[tool.poetry.group.carla.dependencies]
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
diff --git a/tools/sim/README.md b/tools/sim/README.md
index 0892e77736..72727f765d 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -1,7 +1,7 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
 First, start openpilot.
@@ -13,8 +13,7 @@ First, start openpilot.
 ## Bridge usage
 ```
 $ ./run_bridge.py -h
-usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
-
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
 Bridge between the simulator and openpilot.
 
 options:
@@ -23,10 +22,6 @@ options:
   --high_quality
   --dual_camera
   --simulator SIMULATOR
-  --town TOWN
-  --spawn_point NUM_SELECTED_SPAWN_POINT
-  --host HOST
-  --port PORT
 ```
 
 #### Bridge Controls:
@@ -53,32 +48,4 @@ options:
 Start bridge processes located in tools/sim:
 ``` bash
 ./run_bridge.py --simulator metadrive
-```
-
-## Carla
-
-CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
-
-```bash
-poetry install --with=carla
-```
-
-openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
-For this case, we have the simulator in low quality by default.
-
-You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
-
-### Launching Carla
-Start Carla simulator and bridge processes located in tools/sim:
-``` bash
-# Terminal 1
-./start_carla.sh
-
-# Terminal 2
-./run_bridge.py --simulator carla
-```
-
-## Further Reading
-
-The following resources contain more details and troubleshooting tips.
-* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
+```
\ No newline at end of file
diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py
deleted file mode 100644
index fe7b34802f..0000000000
--- a/tools/sim/bridge/carla/carla_bridge.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
-
-
-class CarlaBridge(SimulatorBridge):
-  TICKS_PER_FRAME = 5
-
-  def __init__(self, arguments):
-    super().__init__(arguments)
-    self.host = arguments.host
-    self.port = arguments.port
-    self.town = arguments.town
-    self.num_selected_spawn_point = arguments.num_selected_spawn_point
-
-  def spawn_world(self):
-    import carla
-
-    client = carla.Client(self.host, self.port)
-    client.set_timeout(5)
-
-    return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
-                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py
deleted file mode 100644
index 14b300ed7b..0000000000
--- a/tools/sim/bridge/carla/carla_world.py
+++ /dev/null
@@ -1,145 +0,0 @@
-import numpy as np
-
-from openpilot.common.params import Params
-from openpilot.tools.sim.lib.common import SimulatorState, vec3
-from openpilot.tools.sim.bridge.common import World
-from openpilot.tools.sim.lib.camerad import W, H
-
-
-class CarlaWorld(World):
-  def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
-    super().__init__(dual_camera)
-    import carla
-
-    low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
-
-    layers = carla.MapLayer.All if high_quality else low_quality_layers
-
-    world = client.load_world(town, map_layers=layers)
-
-    settings = world.get_settings()
-    settings.fixed_delta_seconds = 0.01
-    world.apply_settings(settings)
-
-    world.set_weather(carla.WeatherParameters.ClearSunset)
-
-    self.world = world
-    world_map = world.get_map()
-
-    blueprint_library = world.get_blueprint_library()
-
-    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
-    vehicle_bp.set_attribute('role_name', 'hero')
-    spawn_points = world_map.get_spawn_points()
-    assert len(spawn_points) > num_selected_spawn_point, \
-      f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
-    self.spawn_point = spawn_points[num_selected_spawn_point]
-    self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
-
-    physics_control = self.vehicle.get_physics_control()
-    physics_control.mass = 2326
-    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
-    physics_control.gear_switch_time = 0.0
-    self.vehicle.apply_physics_control(physics_control)
-
-    self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
-    self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
-    self.params = Params()
-
-    self.steer_ratio = 15
-
-    self.carla_objects = []
-
-    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
-
-    def create_camera(fov, callback):
-      blueprint = blueprint_library.find('sensor.camera.rgb')
-      blueprint.set_attribute('image_size_x', str(W))
-      blueprint.set_attribute('image_size_y', str(H))
-      blueprint.set_attribute('fov', str(fov))
-      blueprint.set_attribute('sensor_tick', str(1/20))
-      if not high_quality:
-        blueprint.set_attribute('enable_postprocess_effects', 'False')
-      camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
-      camera.listen(callback)
-      return camera
-
-    self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
-    if dual_camera:
-      self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-    else:
-      self.road_wide_camera = None
-
-    # re-enable IMU
-    imu_bp = blueprint_library.find('sensor.other.imu')
-    imu_bp.set_attribute('sensor_tick', '0.01')
-    self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
-
-    gps_bp = blueprint_library.find('sensor.other.gnss')
-    self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
-    self.params.put_bool("UbloxAvailable", True)
-
-    self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
-
-  def close(self):
-    for s in self.carla_objects:
-      if s is not None:
-        try:
-          s.destroy()
-        except Exception as e:
-          print("Failed to destroy carla object", e)
-
-  def carla_image_to_rgb(self, image):
-    rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-    rgb = np.reshape(rgb, (H, W, 4))
-    return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
-
-  def cam_callback_road(self, image):
-    with self.image_lock:
-      self.road_image = self.carla_image_to_rgb(image)
-
-  def cam_callback_wide_road(self, image):
-    with self.image_lock:
-      self.wide_road_image = self.carla_image_to_rgb(image)
-
-  def apply_controls(self, steer_angle, throttle_out, brake_out):
-    self.vc.throttle = throttle_out
-
-    steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
-    steer_carla = np.clip(steer_carla, -1, 1)
-
-    self.vc.steer = steer_carla
-    self.vc.brake = brake_out
-    self.vehicle.apply_control(self.vc)
-
-  def read_sensors(self, simulator_state: SimulatorState):
-    simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
-
-    simulator_state.imu.accelerometer = vec3(
-      self.imu.get_acceleration().x,
-      self.imu.get_acceleration().y,
-      self.imu.get_acceleration().z
-    )
-
-    simulator_state.imu.gyroscope = vec3(
-      self.imu.get_angular_velocity().x,
-      self.imu.get_angular_velocity().y,
-      self.imu.get_angular_velocity().z
-    )
-
-    simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
-
-    simulator_state.velocity = self.vehicle.get_velocity()
-    simulator_state.valid = True
-    simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
-
-  def read_cameras(self):
-    pass # cameras are read within a callback for carla
-
-  def tick(self):
-    self.world.tick()
-
-  def reset(self):
-    import carla
-    self.vehicle.set_transform(self.spawn_point)
-    self.vehicle.set_target_velocity(carla.Vector3D())
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index faa8c0691b..e85665f903 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -44,11 +44,10 @@ class SimulatedSensors:
     if not simulator_state.valid:
       return
 
-    # transform vel from carla to NED
-    # north is -Y in CARLA
+    # transform from vel to NED
     velNED = [
-      -simulator_state.velocity.y,  # north/south component of NED is negative when moving south
-      simulator_state.velocity.x,  # positive when moving east, which is x in carla
+      -simulator_state.velocity.y,
+      simulator_state.velocity.x,
       simulator_state.velocity.z,
     ]
 
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 99617b181e..5f0f0d5e99 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -1,12 +1,9 @@
 #!/usr/bin/env python
 import argparse
-import os
 
 from typing import Any
 from multiprocessing import Queue
 
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 
 
@@ -15,13 +12,6 @@ def parse_args(add_args=None):
   parser.add_argument('--joystick', action='store_true')
   parser.add_argument('--high_quality', action='store_true')
   parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
-
-  # Carla specific
-  parser.add_argument('--town', type=str, default='Town04_Opt')
-  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
-  parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
-  parser.add_argument('--port', dest='port', type=int, default=2000)
 
   return parser.parse_args(add_args)
 
@@ -29,13 +19,7 @@ if __name__ == "__main__":
   q: Any = Queue()
   args = parse_args()
 
-  simulator_bridge: SimulatorBridge
-  if args.simulator == "carla":
-    simulator_bridge = CarlaBridge(args)
-  elif args.simulator == "metadrive":
-    simulator_bridge = MetaDriveBridge(args)
-  else:
-    raise AssertionError("simulator type not supported")
+  simulator_bridge = MetaDriveBridge(args)
   p = simulator_bridge.run(q)
 
   if args.joystick:
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
deleted file mode 100755
index f14e0efd16..0000000000
--- a/tools/sim/start_carla.sh
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/bin/bash
-
-# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
-if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
-  read -p "Nvidia docker is required. Do you want to install it now? (y/n)";
-  if [ "${REPLY}" == "y" ]; then
-    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
-    echo $distribution
-    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
-    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
-    sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit
-    sudo systemctl restart docker
-  else
-    exit 0
-  fi
-fi
-
-docker pull carlasim/carla:0.9.14
-
-EXTRA_ARGS="-it"
-if [[ "$DETACH" ]]; then
-  EXTRA_ARGS="-d"
-fi
-
-docker kill carla_sim || true
-docker run \
-  --name carla_sim \
-  --rm \
-  --gpus all \
-  --net=host \
-  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-  $EXTRA_ARGS \
-  carlasim/carla:0.9.14 \
-  /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index 54f4995e45..3dce660579 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
 fi
 
 if [[ "$CI" ]]; then
-  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
+  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
 else
   # expose X to the container
   xhost +local:root
diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py
deleted file mode 100755
index 3a654c993a..0000000000
--- a/tools/sim/tests/test_carla_bridge.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import time
-import unittest
-from subprocess import Popen
-
-from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim.run_bridge import parse_args
-from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
-from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
-
-from typing import Optional
-
-class TestCarlaBridge(TestSimBridgeBase):
-  """
-  Tests need Carla simulator to run
-  """
-  carla_process: Optional[Popen] = None
-
-  def setUp(self):
-    super().setUp()
-
-    # We want to make sure that carla_sim docker isn't still running.
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
-
-    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
-    unblock_stdout()
-    # Wait 10 seconds to startup carla
-    time.sleep(10)
-
-  def create_bridge(self):
-    return CarlaBridge(parse_args([]))
-
-  def tearDown(self):
-    super().tearDown()
-
-    # Stop carla simulator by removing docker container
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    if self.carla_process is not None:
-      self.carla_process.wait()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 2654526fa8..2a12ef791a 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -14,7 +14,7 @@ class TestSimBridgeBase(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if cls is TestSimBridgeBase:
-      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
+      raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
 
   def setUp(self):
     self.processes = []
@@ -26,15 +26,15 @@ class TestSimBridgeBase(unittest.TestCase):
 
     sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
-    carla_bridge = self.create_bridge()
-    p_bridge = carla_bridge.run(q, retries=10)
+    bridge = self.create_bridge()
+    p_bridge = bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
     max_time_per_step = 60
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
-    while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step:
+    while not bridge.started and time.monotonic() < start_waiting + max_time_per_step:
       time.sleep(0.1)
     self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
 
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
deleted file mode 100755
index 2a1e74958a..0000000000
--- a/tools/sim/tmux_script.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-tmux new -d -s carla-sim
-tmux send-keys "./launch_openpilot.sh" ENTER
-tmux neww
-tmux send-keys "./run_bridge.py $*" ENTER
-tmux a -t carla-sim

From 62670e66bfb93f2d203abcb675f93ccac39d768a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 12 Dec 2023 13:53:27 +0800
Subject: [PATCH 28/50] camerad/CameraBuf: rename yuv_type to stream_type
 (#30695)

---
 system/camerad/cameras/camera_common.cc | 8 ++++----
 system/camerad/cameras/camera_common.h  | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index e36766ca2d..645a6f305c 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -61,9 +61,9 @@ private:
   cl_kernel krnl_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
-  this->yuv_type = init_yuv_type;
+  stream_type = type;
   frame_buf_count = frame_cnt;
 
   const SensorInfo *ci = s->ci.get();
@@ -87,7 +87,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height));
   size_t nv12_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
   size_t nv12_uv_offset = nv12_width * nv12_height;
-  vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
@@ -113,7 +113,7 @@ bool CameraBuf::acquire() {
   }
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_yuv_buf = vipc_server->get_buffer(yuv_type);
+  cur_yuv_buf = vipc_server->get_buffer(stream_type);
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index e93d357b8d..9ebe018408 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -55,7 +55,7 @@ class CameraBuf {
 private:
   VisionIpcServer *vipc_server;
   Debayer *debayer = nullptr;
-  VisionStreamType yuv_type;
+  VisionStreamType stream_type;
   int cur_buf_idx;
   SafeQueue<int> safe_queue;
   int frame_buf_count;
@@ -71,7 +71,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   bool acquire();
   void queue(size_t buf_idx);
 };

From b1ecfd55ce73062f297a5ea7d99d0c55d57c58ab Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 Dec 2023 22:12:21 -0800
Subject: [PATCH 29/50] Revert "FW query timing test: mock get_data function
 for timeout" (#30696)

Revert "FW query timing test: mock get_data function for timeout (#29712)"

This reverts commit 4028cb6121ffd1f92463cfc109593b17abe3aa8c.
---
 selfdrive/car/tests/test_fw_fingerprint.py | 24 ++++++++--------------
 1 file changed, 8 insertions(+), 16 deletions(-)

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index d4cd6315f2..5721896787 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,7 +5,6 @@ import time
 import unittest
 from collections import defaultdict
 from parameterized import parameterized
-from unittest import mock
 import threading
 
 from cereal import car
@@ -177,7 +176,7 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.1
+  TOL: float = 0.12
 
   @staticmethod
   def _run_thread(thread: threading.Thread) -> float:
@@ -192,19 +191,12 @@ class TestFwFingerprintTiming(unittest.TestCase):
     return time.perf_counter() - t
 
   def _benchmark_brand(self, brand, num_pandas):
-    def fake_get_data(_, timeout):
-      nonlocal fake_timeout_time
-      fake_timeout_time += timeout
-      return {}
-
-    with mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", fake_get_data):
-      fake_socket = FakeSocket()
-      brand_time = 0
-      for _ in range(self.N):
-        fake_timeout_time = 0
-        thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
-                                  kwargs=dict(num_pandas=num_pandas))
-        brand_time += self._run_thread(thread) + fake_timeout_time
+    fake_socket = FakeSocket()
+    brand_time = 0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                kwargs=dict(num_pandas=num_pandas))
+      brand_time += self._run_thread(thread)
 
     return brand_time / self.N
 
@@ -235,7 +227,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.58
+    total_ref_time = 6.41
     brand_ref_times = {
       1: {
         'body': 0.11,

From 1c011e6024527b9e2b311fbe48485e6d424f8bca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Dec 2023 00:45:13 -0800
Subject: [PATCH 30/50] Ford: add CAN FD harness info (#30698)

* add correct harness to f150 and angled mount

* can remove this
---
 selfdrive/car/ford/values.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 301847b7ea..68f276d4b5 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,12 +1,12 @@
 from collections import defaultdict
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
-                                           Device
+                                                     Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -74,11 +74,13 @@ class Footnote(Enum):
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
 
   def init_make(self, CP: car.CarParams):
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
+    harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
+    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
+      self.car_parts = CarParts([Device.threex_angled_mount, harness])
+    else:
+      self.car_parts = CarParts([Device.threex, harness])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {

From ad0a882c1ced9f03abd3f85b40dca6fb3262a8dc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Dec 2023 00:50:42 -0800
Subject: [PATCH 31/50] 2022

---
 docs/CARS.md                    | 2 +-
 selfdrive/car/hyundai/values.py | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2bec3dfb50..490fb59e13 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -115,7 +115,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 2023-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c5162786a6..840f6d7a42 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -281,7 +281,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -2101,6 +2101,7 @@ FW_VERSIONS = {
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
       b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',

From fc0daa9693361b51e787500e8e40f0cdffc44737 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Dec 2023 00:51:05 -0800
Subject: [PATCH 32/50] Revert "2022"

This reverts commit ad0a882c1ced9f03abd3f85b40dca6fb3262a8dc.
---
 docs/CARS.md                    | 2 +-
 selfdrive/car/hyundai/values.py | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 490fb59e13..2bec3dfb50 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -115,7 +115,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 2022-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 840f6d7a42..c5162786a6 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -281,7 +281,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -2101,7 +2101,6 @@ FW_VERSIONS = {
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
       b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',

From a03a931737fed35f4ff203236039d1ccc4c7de96 Mon Sep 17 00:00:00 2001
From: Rabin Karki <rabinkarki@gmail.com>
Date: Tue, 12 Dec 2023 03:52:36 -0500
Subject: [PATCH 33/50] HKG: Add FW Versions for Kia Carnival 2022 (#30677)

* HKG: Add FW Versions for Kia Carnival 2022

* 2022

* should

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    | 2 +-
 selfdrive/car/hyundai/values.py | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2bec3dfb50..490fb59e13 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -115,7 +115,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 2023-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c5162786a6..840f6d7a42 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -281,7 +281,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -2101,6 +2101,7 @@ FW_VERSIONS = {
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
       b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',

From be33d29d7a437201386638570fbda9e085a9910c Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 09:45:34 -0800
Subject: [PATCH 34/50] Simulator: --simulator is no longer an argument
 (#30700)

these are also gone
---
 tools/sim/README.md | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/tools/sim/README.md b/tools/sim/README.md
index 72727f765d..f6ddde2580 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -13,7 +13,7 @@ First, start openpilot.
 ## Bridge usage
 ```
 $ ./run_bridge.py -h
-usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera]
 Bridge between the simulator and openpilot.
 
 options:
@@ -21,7 +21,6 @@ options:
   --joystick
   --high_quality
   --dual_camera
-  --simulator SIMULATOR
 ```
 
 #### Bridge Controls:
@@ -47,5 +46,5 @@ options:
 ### Launching Metadrive
 Start bridge processes located in tools/sim:
 ``` bash
-./run_bridge.py --simulator metadrive
+./run_bridge.py
 ```
\ No newline at end of file

From aaff6aebcaf3bece8ae741d3e12abf764bf635c5 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 12 Dec 2023 12:57:12 -0600
Subject: [PATCH 35/50] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202020=20?=
 =?UTF-8?q?=C5=A0koda=20Superb=20(#30699)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 selfdrive/car/volkswagen/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 13508aa1fb..c47dd2d161 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1394,6 +1394,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026KB\xf1\x894071',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x8704L906026MT\xf1\x893076',
+      b'\xf1\x8705L906022BK\xf1\x899971',
       b'\xf1\x873G0906259  \xf1\x890004',
       b'\xf1\x873G0906259B \xf1\x890002',
       b'\xf1\x873G0906259L \xf1\x890003',
@@ -1414,6 +1415,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300014M \xf1\x892801',
       b'\xf1\x870GC300019G \xf1\x892803',
       b'\xf1\x870GC300043  \xf1\x892301',
+      b'\xf1\x870GC300046D \xf1\x892402',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
@@ -1423,6 +1425,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',

From dd54ec9aa8f1991b70d8a012bd0d854462b2c0ff Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Tue, 12 Dec 2023 11:24:04 -0800
Subject: [PATCH 36/50] =?UTF-8?q?blue=20diamond=20model=20=F0=9F=92=8E=20(?=
 =?UTF-8?q?#30504)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* c53b1113-ca16-434f-a3e7-457a36ba98cc/700

* 672ee0a5-0466-420d-be18-0610c5d71b6d/700

* update model replay ref commit
---
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index e2897b08a5..9697c01793 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850
-size 52524758
+oid sha256:cf6133c5bff295a3ee69eeb01297ba77adb6b83dbc1d774442a48117dbaf4626
+size 48457192
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 977f19e7bc..bb111e22e2 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-35a05ff1b68062c9478b2adfe96f1c294bee1b6c
+91cd2bf71771c2770c0effc26c0bb23d27208138

From 43e1409fd2fa4a92350a54434602b71b1874fd60 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 12 Dec 2023 14:09:07 -0800
Subject: [PATCH 37/50] metadrive: fix wasd steer signs (#30623)

* Swap AD signs

* Fix type annotation

* fix user torque

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
---
 tools/sim/bridge/common.py     | 2 +-
 tools/sim/lib/keyboard_ctrl.py | 4 ++--
 tools/sim/lib/manual_ctrl.py   | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index a0e6538b2c..35656f39f3 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -147,7 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
       self.simulator_state.user_brake = brake_manual
       self.simulator_state.user_gas = throttle_manual
-      self.simulator_state.user_torque = steer_manual * 10000
+      self.simulator_state.user_torque = steer_manual * -10000
 
       steer_manual = steer_manual * -40
 
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index c37f6ea479..f03d79c312 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -62,11 +62,11 @@ def keyboard_poll_thread(q: 'Queue[str]'):
     elif c == 'w':
       q.put("throttle_%f" % 1.0)
     elif c == 'a':
-      q.put("steer_%f" % 0.15)
+      q.put("steer_%f" % -0.15)
     elif c == 's':
       q.put("brake_%f" % 1.0)
     elif c == 'd':
-      q.put("steer_%f" % -0.15)
+      q.put("steer_%f" % 0.15)
     elif c == 'z':
       q.put("blinker_left")
     elif c == 'x':
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 04e228c18c..5e826e7baa 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -183,6 +183,6 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
 if __name__ == '__main__':
   from multiprocessing import Process, Queue
-  q: Queue[str] = Queue()
+  q: 'Queue[str]' = Queue()
   p = Process(target=wheel_poll_thread, args=(q,))
   p.start()

From e62756596b82e4e40d02a30b34d3f3c9960bffe6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 12 Dec 2023 14:14:51 -0800
Subject: [PATCH 38/50] controlsd: require joystick mode param for the body
 (#30680)

* Update joystick mode in step

* Stop putting the body in joystick mode by default

* Toggle JoystickDebugMode by default for notCars in process_replay

* Remove subsection about web joystick

* Update param only in non-cars

* Make joystickDebug non-static event, and add it in a loop

* Add comment
---
 selfdrive/controls/controlsd.py                 | 15 +++++++++------
 selfdrive/test/process_replay/process_replay.py |  3 +++
 tools/joystick/README.md                        | 11 -----------
 3 files changed, 12 insertions(+), 17 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 41866efc3d..bbfde95cd6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -93,8 +93,7 @@ class Controls:
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_enabled = self.params.get_bool("JoystickDebugMode")
-    self.joystick_mode = self.joystick_enabled or self.CP.notCar
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -192,9 +191,6 @@ class Controls:
         set_offroad_alert("Offroad_NoFirmware", True)
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
-    elif self.joystick_mode:
-      self.events.add(EventName.joystickDebug, static=True)
-      self.startup_event = None
 
     # controlsd is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -215,6 +211,11 @@ class Controls:
 
     self.events.clear()
 
+    # Add joystick event, static on cars, dynamic on nonCars
+    if self.joystick_mode:
+      self.events.add(EventName.joystickDebug)
+      self.startup_event = None
+
     # Add startup event
     if self.startup_event is not None:
       self.events.add(self.startup_event)
@@ -371,7 +372,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not (self.CP.notCar and self.joystick_enabled):
+    if not (self.CP.notCar and self.joystick_mode):
       if not self.sm['lateralPlan'].mpcSolutionValid:
         self.events.add(EventName.plannerError)
       if not self.sm['liveLocationKalman'].posenetOK:
@@ -853,6 +854,8 @@ class Controls:
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+    if self.CP.notCar:
+      self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 
     # Sample data from sockets and get a carState
     CS = self.data_sample()
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c3c3670a74..19f1c127a6 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -749,6 +749,9 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     if CP.openpilotLongitudinalControl:
       params_dict["ExperimentalLongitudinalEnabled"] = True
 
+    if CP.notCar:
+      params_dict["JoystickDebugMode"] = True
+
   return params_dict
 
 
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index 65422afe80..aea93dad53 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -45,17 +45,6 @@ In order to use a joystick over the network, we need to run joystickd locally fr
    tools/joystick/joystickd.py
    ```
 
-### Web joystick on your mobile device
-
-A browser-based virtual joystick designed for touch screens. Starts automatically when installed on comma body (non-car robotics platform).
-For cars, start the web joystick service manually via SSH before starting the car.
-
-```shell
-tools/joystick/web.py
-```
-
-After starting the car/body, open the web joystick app at this URL: `http://[comma three IP address]:5000`
-
 ---
 Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell.
 

From 7931561416087ac0ceaa64f8ec1e920d89cc358d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Dec 2023 15:19:57 -0800
Subject: [PATCH 39/50] workflow docs (#30703)

* start workflow docs

* update

* update

* linter

* update

* update
---
 docs/CONTRIBUTING.md |  8 --------
 docs/WORKFLOW.md     | 42 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 42 insertions(+), 8 deletions(-)
 create mode 100644 docs/WORKFLOW.md

diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 7a074f12de..043ac7a9c7 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -37,12 +37,4 @@ We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-f
 
 If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
 
-## Testing
 
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
new file mode 100644
index 0000000000..485adaf1de
--- /dev/null
+++ b/docs/WORKFLOW.md
@@ -0,0 +1,42 @@
+# openpilot development workflow
+
+Aside from the ML models, most tools used for openpilot development are in this repo.
+
+Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices.
+
+## Quick start
+
+```bash
+# get the latest stuff
+git pull
+git submodule update --init --recursive
+
+# update dependencies
+tools/ubuntu_setup.sh
+
+# build everything
+scons -j$(nproc)
+
+# build just the ui with either of these
+scons -j8 selfdrive/ui/
+cd selfdrive/ui/ && scons -u -j8
+
+# test everything
+pytest .
+
+# test just logging services
+cd system/loggerd && pytest .
+
+# run the linter
+pre-commit run --all
+```
+
+## Testing
+
+### Automated Testing
+
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
+
+### Code Style and Linting
+
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

From 8184186dd3f187c7f7ae967d75c9df0dc9ebd629 Mon Sep 17 00:00:00 2001
From: Yassine <yassine.y10@gmail.com>
Date: Tue, 12 Dec 2023 15:53:15 -0800
Subject: [PATCH 40/50] update release notes

---
 RELEASES.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index e9864a0d58..41b9b946d8 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,8 @@
 Version 0.9.6 (2023-12-14)
 ========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!

From 4f3a186a6faa9f95b0764069a79f86693973bfb2 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 15:58:24 -0800
Subject: [PATCH 41/50] soundd/micd: retry getting stream (#30701)

retry soundd/micd
---
 selfdrive/ui/soundd.py | 20 ++++++++++++--------
 system/micd.py         | 25 ++++++++-----------------
 2 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 5ac503aadf..01148ec199 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -8,13 +8,12 @@ from typing import Dict, Optional, Tuple
 from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
-
-from openpilot.system import micd
-from openpilot.system.hardware import TICI
-
 from openpilot.common.realtime import Ratekeeper
+from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.system import micd
+
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
@@ -127,16 +126,21 @@ class Soundd:
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
     return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
 
+  @retry(attempts=7, delay=3)
+  def get_stream(self, sd):
+    # reload sounddevice to reinitialize portaudio
+    sd._terminate()
+    sd._initialize()
+    return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER)
+
   def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    if TICI:
-      micd.wait_for_devices(sd) # wait for alsa to be initialized on device
+    sm = messaging.SubMaster(['controlsState', 'microphone'])
 
-    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
+    with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
-      sm = messaging.SubMaster(['controlsState', 'microphone'])
 
       cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
diff --git a/system/micd.py b/system/micd.py
index baf75c17b9..8b738ebe93 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -5,7 +5,6 @@ from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
 
 RATE = 10
 FFT_SAMPLES = 4096
@@ -14,18 +13,6 @@ SAMPLE_RATE = 44100
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 
 
-@retry(attempts=7, delay=3)
-def wait_for_devices(sd):
-  # reload sounddevice to reinitialize portaudio
-  sd._terminate()
-  sd._initialize()
-
-  devices = sd.query_devices()
-  cloudlog.info(f"sounddevice available devices: {list(devices)}")
-
-  assert len(devices) > 0
-
-
 def calculate_spl(measurements):
   # https://www.engineeringtoolbox.com/sound-pressure-d_711.html
   sound_pressure = np.sqrt(np.mean(measurements ** 2))  # RMS of amplitudes
@@ -92,14 +79,18 @@ class Mic:
 
       self.measurements = self.measurements[FFT_SAMPLES:]
 
+  @retry(attempts=7, delay=3)
+  def get_stream(self, sd):
+    # reload sounddevice to reinitialize portaudio
+    sd._terminate()
+    sd._initialize()
+    return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER)
+
   def micd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    if TICI:
-      wait_for_devices(sd) # wait for alsa to be initialized on device
-
-    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
+    with self.get_stream(sd) as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         self.update()

From 595041ffc0a2fd8ab6eb09e366d7cd4ddd262781 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 16:40:21 -0800
Subject: [PATCH 42/50] add car porting docs (#30704)

* add car porting docs

* add cabana

* absolute link

* absolute link

* absolute link

* selfdrive/car
---
 selfdrive/car/README.MD | 76 ++++++++++++++++++++++++++++++++++++++---
 1 file changed, 71 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/README.MD b/selfdrive/car/README.MD
index de4db0ee50..19a33085f0 100644
--- a/selfdrive/car/README.MD
+++ b/selfdrive/car/README.MD
@@ -1,11 +1,77 @@
-## Port structure
-##### interface.py
+# selfdrive/car
+
+### Checkout this blogpost for a high level overview of car ports
+https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/
+
+## Useful car porting utilities
+
+Testing car ports in your car is very time consuming! Checkout these utilities to do basic checks on your work before running it in your car.
+
+### [Cabana](/tools/cabana/README.md)
+
+View your cars CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
+
+Example:
+```bash
+> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
+```
+
+### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py)
+
+Given a route and platform, automatically inserts fw fingerprints from the platform into the correct place in values.py
+
+Example:
+```bash
+> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
+Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN
+```
+
+### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
+
+Finds common bugs for car interfaces, without even requiring a route!
+
+
+#### Example: Typo in signal name
+```bash
+> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # (replace with the brand you are working on!)
+
+=====================================================================
+FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
+
+```
+
+### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py)
+
+Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and mismatches.
+
+#### Example: Panda safety mismatch for gasPressed
+```bash
+> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+
+=====================================================================
+FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
+Assert that panda safety matches openpilot's carState
+----------------------------------------------------------------------
+Traceback (most recent call last):
+  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
+    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
+AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
+```
+
+
+## Car Port structure
+
+### interface.py
 Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
-##### carcontroller.py
+
+### carcontroller.py
 Builds CAN messages to send to car
+
 ##### carstate.py
 Reads CAN from car and builds openpilot CarState message
+
 ##### values.py
-Fingerprints and absolute limits
+Fingerprints, limits for actuation, car doc information, etc
+
 ##### radar_interface.py
-Radar interface
+Interface for parsing radar points from the car

From 3a97bde8635c47c314b71acc065a2e5eb2f46830 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Dec 2023 17:27:42 -0800
Subject: [PATCH 43/50] Update contributing (#30705)

* update

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md

* Update CONTRIBUTING.md
---
 docs/CONTRIBUTING.md | 50 +++++++++++++++++++++++++++++++++-----------
 1 file changed, 38 insertions(+), 12 deletions(-)

diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 043ac7a9c7..777788630b 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -1,26 +1,46 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-
-Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
 
 ### Getting Started
 
- * Setup your [development environment](../tools/)
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
+* Setup your [development environment](../tools/)
+* Read about the [development workflow](WORKFLOW.md)
+* Join our [Discord](https://discord.comma.ai)
+* Docs are at https://docs.comma.ai and https://blog.comma.ai
+
+### What contributions are we looking for?
+
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all developoment is towards that goal.
+
+The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
+If a PR offers *some* value but will take lots of time to get merged, it will be closed.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+
+All of these are examples of good PRs:
+* typo fix: https://github.com/commaai/openpilot/pull/30678
+* removing unused code: https://github.com/commaai/openpilot/pull/30573
+* simple car model port: https://github.com/commaai/openpilot/pull/30245
+* car brand port: https://github.com/commaai/openpilot/pull/23331
+
+### What doesn't get merged?
+
+* arbitrary style changes
+* PRs without a clear goal
+* 500+ line PRs: it should be either cleaned up, broken up into smaller PRs, or both
 
 ### First contribution
-Try out some of these first pull requests ideas to dive into the codebase:
 
-* Increase our [mypy](http://mypy-lang.org/) coverage
-* Write some documentation
-* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)
+Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
+
+### What do I need to contribute?
+
+A lot of openpilot work requires only a PC, and some requires a comma device.
+Most car-related contributions require access to that car, plus a comma device installed in the car.
 
 ## Pull Requests
 
-Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
 
 A good pull request has all of the following:
 * a clearly stated purpose
@@ -37,4 +57,10 @@ We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-f
 
 If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
 
+## Contributing without Code
 
+* Report bugs in GitHub issues.
+* Report driving issues in the `#driving-feedback` Discord channel.
+* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
+* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.

From c066fdd7a32b2d5b419419ac3f19ab4e8ba34280 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 17:48:03 -0800
Subject: [PATCH 44/50] jenkins: remove old root user permission fixes (#30684)

* Batman

* add debug stuff

* Revert that for now

* remove debug stuff
---
 Jenkinsfile | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index bd894f53e0..4e8575a0d8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -92,10 +92,6 @@ def pcStage(String stageName, Closure body) {
     docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
       timeout(time: 20, unit: 'MINUTES') {
         try {
-          // TODO: remove these after all jenkins jobs are running as batman (merged with master)
-          sh "sudo chown -R batman:batman /tmp/scons_cache"
-          sh "sudo chown -R batman:batman /tmp/comma_download_cache"
-
           sh "git config --global --add safe.directory '*'"
           sh "git submodule update --init --recursive"
           sh "git lfs pull"

From 93cd19e3a553d34d2f8bcd1aea121d09a7b2196b Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 17:54:17 -0800
Subject: [PATCH 45/50] jenkins: retry pc setup (#30659)

* retry pc setup

* sleep and retry

* exception

* throw e

* remove force exit

* make a function for it

* remove force exit

* move to top

* separate exception
---
 Jenkinsfile | 26 ++++++++++++++++++++------
 1 file changed, 20 insertions(+), 6 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 4e8575a0d8..84f87bbdd9 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,3 +1,15 @@
+def retryWithDelay(int maxRetries, int delay, Closure body) {
+  for (int i = 0; i < maxRetries; i++) {
+    try {
+      body()
+      return
+    } catch (Exception e) {
+      sleep(delay)
+    }
+  }
+  throw Exception("Failed after ${maxRetries} retries")
+}
+
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
@@ -92,18 +104,20 @@ def pcStage(String stageName, Closure body) {
     docker.build("openpilot-base:build-${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"
+          retryWithDelay (3, 15) {
+            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"
+            sh "rm -rf ${env.WORKSPACE}/* || true"
+            sh "rm -rf .* || true"
+          }
         }
       }
     }
   }
-  }
 }
 
 def setupCredentials() {

From 02373fcb05e3c5fcb3fe2596024bca02fa7f8ab8 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 18:12:19 -0800
Subject: [PATCH 46/50] jenkins: retry docker_build (#30629)

* retry docker build

* retry docker build

* retry docker build

* does this work nicely?

* docker fail!

* Revert "docker fail!"

This reverts commit ab227a1ea37fad3d6413081e4516211b474b0712.
---
 Jenkinsfile | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 84f87bbdd9..2118c4c4ed 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,8 +1,7 @@
 def retryWithDelay(int maxRetries, int delay, Closure body) {
   for (int i = 0; i < maxRetries; i++) {
     try {
-      body()
-      return
+      return body()
     } catch (Exception e) {
       sleep(delay)
     }
@@ -101,7 +100,12 @@ def pcStage(String stageName, Closure body) {
     checkout scm
 
     def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}";
-    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+
+    def openpilot_base = retryWithDelay (3, 15) {
+      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    }
+    
+    openpilot_base.inside(dockerArgs) {
       timeout(time: 20, unit: 'MINUTES') {
         try {
           retryWithDelay (3, 15) {

From 5d80858a16cfc1ab36f16ac3ed464eb6010c68a4 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 12 Dec 2023 18:17:10 -0800
Subject: [PATCH 47/50] cleanup car port docs (#30707)

readme
---
 selfdrive/car/README.MD | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/README.MD b/selfdrive/car/README.MD
index 19a33085f0..2dcbf56059 100644
--- a/selfdrive/car/README.MD
+++ b/selfdrive/car/README.MD
@@ -1,6 +1,6 @@
 # selfdrive/car
 
-### Checkout this blogpost for a high level overview of car ports
+### Check out this blogpost for a high level overview of car ports
 https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/
 
 ## Useful car porting utilities
@@ -9,7 +9,7 @@ Testing car ports in your car is very time consuming! Checkout these utilities t
 
 ### [Cabana](/tools/cabana/README.md)
 
-View your cars CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
+View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
 
 Example:
 ```bash
@@ -18,7 +18,7 @@ Example:
 
 ### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py)
 
-Given a route and platform, automatically inserts fw fingerprints from the platform into the correct place in values.py
+Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py
 
 Example:
 ```bash

From a4179a7c230e687bebd15581ccdb3f7d34a690f4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 13 Dec 2023 11:15:47 +0800
Subject: [PATCH 48/50] encoder: reduce memory allocations and copying (#28704)

* reduce memory allocations and copying

* #include <vector>
---
 system/loggerd/encoder/encoder.cc | 11 +++++++----
 system/loggerd/encoder/encoder.h  |  3 ++-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index 869b4617b3..0aba4b8b49 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -27,8 +27,11 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edat.setData(dat);
   if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
 
-  auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
-  auto bytes = words->asBytes();
-  e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size());
-  delete words;
+  uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
+  if (e->msg_cache.size() < bytes_size) {
+    e->msg_cache.resize(bytes_size);
+  }
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
+  capnp::writeMessage(output_stream, msg);
+  e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
 }
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index a8bfd5c054..9c23928cc6 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -4,6 +4,7 @@
 #include <cstdint>
 #include <memory>
 #include <thread>
+#include <vector>
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
@@ -23,7 +24,6 @@ public:
 
   static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
-
 protected:
   int in_width, in_height;
   const EncoderInfo encoder_info;
@@ -32,4 +32,5 @@ private:
   // total frames encoded
   int cnt = 0;
   std::unique_ptr<PubMaster> pm;
+  std::vector<capnp::byte> msg_cache;
 };

From 73db7e8e3a9daec01c7e7b7cfb404a1687544b21 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Dec 2023 19:15:25 -0800
Subject: [PATCH 49/50] Revert "compressed_vipc: fix issues with
 VisionIpcServer in ZMQ mode (#30115)"

This reverts commit 0e5cfa3426a3cc2e270c239169a126cdd233865d.
---
 tools/camerastream/compressed_vipc.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index c6e05a0af8..ac7ca2520b 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -19,11 +19,7 @@ ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vst, nvidia, debug=False):
-  vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(vst, 4, False, W, H)
-  vipc_server.start_listener()
-
+def decoder(addr, vipc_server, vst, nvidia, debug=False):
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
@@ -105,9 +101,14 @@ def decoder(addr, vst, nvidia, debug=False):
 
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+    self.vipc_server = VisionIpcServer("camerad")
+    for vst in vision_streams:
+      self.vipc_server.create_buffers(vst, 4, False, W, H)
+    self.vipc_server.start_listener()
+
     self.procs = []
     for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
       p.start()
       self.procs.append(p)
 

From fb977e45cdbc8852cb65f4aa153cb1e9a59accac Mon Sep 17 00:00:00 2001
From: Cone Guy <153409307+cone-guy@users.noreply.github.com>
Date: Tue, 12 Dec 2023 22:24:36 -0500
Subject: [PATCH 50/50] Link to setup guide in WORKFLOW.md (#30708)

* Mention dev containers and WSL

* Update WORKFLOW.md

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 docs/WORKFLOW.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 485adaf1de..85ae8d86f4 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -2,7 +2,7 @@
 
 Aside from the ML models, most tools used for openpilot development are in this repo.
 
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices.
+Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
 
 ## Quick start