Merge branch 'master' of https://github.com/commaai/openpilot into pq-upstream

.github/workflows/selfdrive_tests.yaml

@@ -7,6 +7,7 @@ on:
 
 env:
   BASE_IMAGE: openpilot-base
+  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
@@ -17,6 +18,13 @@ env:
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+
+  BUILD_CL: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
+
   UNIT_TEST: coverage run --append -m unittest discover
 
 jobs:
@@ -193,10 +201,13 @@ jobs:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
+    - name: Build CL Docker image
+      run: eval "$BUILD_CL"
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
 
   static_analysis:
     name: static analysis
@@ -295,7 +306,7 @@ jobs:
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
-                        ./selfdrive/proclogd/tests/test_proclog && \
+                        ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
                         ./selfdrive/camerad/test/ae_gray_test && \
                         coverage xml"
@@ -351,6 +362,44 @@ jobs:
                         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@v2
+  
+  model_replay_onnx:
+    name: model replay onnx
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Pull LFS
+      run: git lfs pull
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      # Sim docker is needed to get the intel OPENCL drivers
+      run: eval "$BUILD_CL"
+    - name: Run replay
+      run: |
+        ${{ env.RUN_CL }} "scons -j$(nproc) && \
+                            ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \
+                            selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
+                            coverage xml"
 
   test_longitudinal:
     name: longitudinal

.github/workflows/tools_tests.yaml

@@ -5,6 +5,7 @@ on:
 
 env:
   BASE_IMAGE: openpilot-base
+  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
   DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
 
@@ -12,6 +13,10 @@ env:
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD_CL: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
        GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
@@ -49,8 +54,10 @@ jobs:
       run: git lfs pull
     - name: Build base image
       run: eval "$BUILD"
+    - name: Build base cl image
+      run: eval "$BUILD_CL"
     - name: Pull latest simulator image
-      run: eval "$BUILD"docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+      run: docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
     - name: Build simulator image
       run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
     - name: Push to container registry

.gitignore

@@ -41,7 +41,7 @@ board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
+system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond

Dockerfile.openpilot

@@ -28,5 +28,6 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 
 RUN scons -j$(nproc)

Dockerfile.openpilot_base_cl

@@ -0,0 +1,37 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt-get update && apt-get install -y --no-install-recommends\
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Intel OpenCL driver
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+WORKDIR /tmp/opencl-driver-intel
+RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    rm -rf /tmp/opencl-driver-intel
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+

README.md

@@ -102,6 +102,9 @@ Directory Structure
     ├── panda               # Code used to communicate on CAN
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
+    └── system              # Generic services
+        ├── logcatd         # systemd journal as a service
+        └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -112,7 +115,6 @@ Directory Structure
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc

RELEASES.md

@@ -5,6 +5,7 @@ Version 0.8.15 (2022-XX-XX)
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+* AGNOS 5
 
 Version 0.8.14 (2022-06-01)
 ========================

SConstruct

@@ -1,5 +1,4 @@
 import os
-import shutil
 import subprocess
 import sys
 import sysconfig
@@ -7,6 +6,8 @@ import platform
 import numpy as np
 
 TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
 Decider('MD5-timestamp')
 
 AddOption('--test',
@@ -56,7 +57,7 @@ real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rst
 if platform.system() == "Darwin":
   arch = "Darwin"
 
-if arch == "aarch64" and TICI:
+if arch == "aarch64" and AGNOS:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -226,7 +227,7 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -376,6 +377,14 @@ if arch != "larch64":
 Export('rednose_config')
 SConscript(['rednose/SConscript'])
 
+# Build system services
+SConscript([
+  'system/clocksd/SConscript',
+  'system/proclogd/SConscript',
+])
+if arch != "Darwin":
+  SConscript(['system/logcatd/SConscript'])
+
 # Build openpilot
 
 SConscript(['cereal/SConscript'])
@@ -395,8 +404,6 @@ SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/loggerd/SConscript'])
 
@@ -404,9 +411,6 @@ SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
-if arch != "Darwin":
-  SConscript(['selfdrive/logcatd/SConscript'])
-
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')
 

cereal

@@ -1 +1 @@
-Subproject commit bf4960f83ccdefc7e9d2e405878ae6c8efced83b
+Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52

common/modeldata.h

@@ -24,8 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-const int TICI_CAM_WIDTH = 1928;
-
 namespace tici_dm_crop {
   const int x_offset = -72;
   const int y_offset = -144;

common/params.cc

@@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"EndToEndToggle", PERSISTENT},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},

common/realtime.py

@@ -8,19 +8,14 @@ from typing import Optional, List, Union
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC, TICI
+from selfdrive.hardware import PC
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
 DT_TRML = 0.5  # thermald and manager
-
-# driver monitoring
-if TICI:
-  DT_DMON = 0.05
-else:
-  DT_DMON = 0.1
+DT_DMON = 0.05  # driver monitoring
 
 
 class Priority:

common/swaglog.cc

@@ -50,11 +50,7 @@ class SwaglogState : public LogState {
     ctx_j["dirty"] = !getenv("CLEAN");
 
     // device type
-    if (Hardware::TICI()) {
-      ctx_j["device"] =  "tici";
-    } else {
-      ctx_j["device"] =  "pc";
-    }
+    ctx_j["device"] = Hardware::get_name();
     LogState::initialize();
   }
 };

common/tests/test_swaglog.cc

@@ -56,10 +56,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
 
     REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
 
-    std::string device = "pc";
-    if (Hardware::TICI()) {
-      device = "tici";
-    }
+    std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);
 
     int thread_id = atoi(msg["msg"].string_value().c_str());

common/transformations/camera.py

@@ -1,7 +1,6 @@
 import numpy as np
 
 import common.transformations.orientation as orient
-from selfdrive.hardware import TICI
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
@@ -45,14 +44,9 @@ tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
 tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
 
 
-if not TICI:
-  FULL_FRAME_SIZE = eon_f_frame_size
-  FOCAL = eon_f_focal_length
-  fcam_intrinsics = eon_fcam_intrinsics
-else:
-  FULL_FRAME_SIZE = tici_f_frame_size
-  FOCAL = tici_f_focal_length
-  fcam_intrinsics = tici_fcam_intrinsics
+FULL_FRAME_SIZE = tici_f_frame_size
+FOCAL = tici_f_focal_length
+fcam_intrinsics = tici_fcam_intrinsics
 
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
 

docs/CARS.md

@@ -51,13 +51,7 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -75,12 +69,7 @@ How We Rate The Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -94,7 +83,6 @@ How We Rate The Cars
 |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -107,18 +95,15 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -126,36 +111,20 @@ How We Rate The Cars
 |Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 ## Bronze Cars
@@ -165,6 +134,11 @@ How We Rate The Cars
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -196,29 +170,55 @@ How We Rate The Cars
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 
 <a id="footnotes"></a>

docs/c_docs.rst

@@ -66,7 +66,7 @@ qt
 proclogd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_proclogd
+   :project: system_proclogd
 
 modeld
 ^^^^^^

docs/docker/Dockerfile

@@ -30,6 +30,7 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
 RUN scons -j$(nproc)

laika_repo

@@ -1 +1 @@
-Subproject commit 231eafbf659309b85acb5b575b7f898e7a4f196e
+Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b

launch_chffrplus.sh

@@ -8,7 +8,7 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-function tici_init {
+function agnos_init {
   # wait longer for weston to come up
   if [ -f "$BASEDIR/prebuilt" ]; then
     sleep 3
@@ -77,9 +77,7 @@ function launch {
   export PYTHONPATH="$PWD:$PWD/pyextra"
 
   # hardware specific init
-  if [ -f /TICI ]; then
-    tici_init
-  fi
+  agnos_init
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="4"
+  export AGNOS_VERSION="5.1"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc

@@ -1 +1 @@
-Subproject commit f107e767bda05b2101c88275646fffe33ad6dec0
+Subproject commit 8a5292158d24aa5892ceeda3edde28633a968537

panda

@@ -1 +1 @@
-Subproject commit 6d19b46ef525b0ae224e0bf7db71918e96f9be66
+Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f

release/files_common

@@ -119,9 +119,9 @@ selfdrive/car/tesla/*.py
 selfdrive/car/toyota/*.py
 selfdrive/car/volkswagen/*.py
 
-selfdrive/clocksd/.gitignore
-selfdrive/clocksd/SConscript
-selfdrive/clocksd/clocksd.cc
+system/clocksd/.gitignore
+system/clocksd/SConscript
+system/clocksd/clocksd.cc
 
 selfdrive/debug/*.py
 
@@ -220,13 +220,13 @@ selfdrive/locationd/models/live_kf.cc
 
 selfdrive/locationd/calibrationd.py
 
-selfdrive/logcatd/SConscript
-selfdrive/logcatd/logcatd_systemd.cc
+system/logcatd/SConscript
+system/logcatd/logcatd_systemd.cc
 
-selfdrive/proclogd/SConscript
-selfdrive/proclogd/main.cc
-selfdrive/proclogd/proclog.cc
-selfdrive/proclogd/proclog.h
+system/proclogd/SConscript
+system/proclogd/main.cc
+system/proclogd/proclog.cc
+system/proclogd/proclog.h
 
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc

selfdrive/athena/athenad.py

@@ -32,7 +32,7 @@ from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, TICI
+from selfdrive.hardware import HARDWARE, PC, AGNOS
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
@@ -413,8 +413,8 @@ def primeActivated(activated):
 
 @dispatcher.add_method
 def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
-  if not TICI:
-    return {"success": 0, "error": "only supported on comma three"}
+  if not AGNOS:
+    return {"success": 0, "error": "only supported on AGNOS"}
 
   try:
     HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps)

selfdrive/boardd/boardd.cc

@@ -405,17 +405,12 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  if (Hardware::TICI()) {
-    double read_time = millis_since_boot();
-    ps.setVoltage(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()));
-    ps.setCurrent(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()));
-    read_time = millis_since_boot() - read_time;
-    if (read_time > 50) {
-      LOGW("reading hwmon took %lfms", read_time);
-    }
-  } else {
-    ps.setVoltage(pandaState.voltage_pkt);
-    ps.setCurrent(pandaState.current_pkt);
+  double read_time = millis_since_boot();
+  ps.setVoltage(Hardware::get_voltage());
+  ps.setCurrent(Hardware::get_current());
+  read_time = millis_since_boot() - read_time;
+  if (read_time > 50) {
+    LOGW("reading hwmon took %lfms", read_time);
   }
 
   uint16_t fan_speed_rpm = panda->get_fan_speed();
@@ -534,9 +529,7 @@ void peripheral_control_thread(Panda *panda) {
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
       float cur_gain = event.getDriverCameraState().getGain();
 
-      if (Hardware::TICI()) {
-        cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
-      }
+      cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
       last_front_frame_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {

selfdrive/boardd/main.cc

@@ -12,7 +12,7 @@ int main(int argc, char *argv[]) {
     int err;
     err = util::set_realtime_priority(54);
     assert(err == 0);
-    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
+    err = util::set_core_affinity({4});
     assert(err == 0);
   }
 

selfdrive/camerad/cameras/camera_common.cc

@@ -90,12 +90,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   rgb_width = ci->frame_width;
   rgb_height = ci->frame_height;
 
-  if (!Hardware::TICI() && ci->bayer) {
-    // debayering does a 2x downscale
-    rgb_width = ci->frame_width / 2;
-    rgb_height = ci->frame_height / 2;
-  }
-
   yuv_transform = get_model_yuv_transform(ci->bayer);
 
   vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);

selfdrive/camerad/main.cc

@@ -7,7 +7,7 @@
 #include "selfdrive/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  if (Hardware::TICI()) {
+  if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(53);
     assert(ret == 0);

selfdrive/camerad/snapshot/snapshot.py

@@ -4,13 +4,12 @@ import time
 
 import numpy as np
 from PIL import Image
-from typing import List
 
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import TICI, PC
+from selfdrive.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
@@ -52,11 +51,7 @@ def extract_image(buf, w, h, stride, uv_offset):
   return yuv_to_rgb(y, u, v)
 
 
-def rois_in_focus(lapres: List[float]) -> float:
-  return sum(1. / len(lapres) for sharpness in lapres if sharpness >= LM_THRESH)
-
-
-def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.):
+def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
   sockets = [s for s in (frame, front_frame) if s is not None]
   sm = messaging.SubMaster(sockets)
   vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
@@ -68,13 +63,6 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focu
   for client in vipc_clients.values():
     client.connect(True)
 
-  # wait for focus
-  start_t = time.monotonic()
-  while time.monotonic() - start_t < 10:
-    sm.update(100)
-    if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold:
-      break
-
   # grab images
   rear, front = None, None
   if frame is not None:
@@ -113,11 +101,9 @@ def snapshot():
     if not PC:
       managed_processes['camerad'].start()
 
-    frame = "wideRoadCameraState" if TICI else "roadCameraState"
+    frame = "wideRoadCameraState"
     front_frame = "driverCameraState" if front_camera_allowed else None
-    focus_perc_threshold = 0. if TICI else 10 / 12.
-
-    rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
+    rear, front = get_snapshots(frame, front_frame)
   finally:
     managed_processes['camerad'].stop()
     params.put_bool("IsTakingSnapshot", False)

selfdrive/car/__init__.py

@@ -24,12 +24,13 @@ def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, cap
   return be
 
 
-def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder) -> List[int]:
+def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]:
   events = []
   for b in buttonEvents:
     # do enable on both accel and decel buttons
-    if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
-      events.append(EventName.buttonEnable)
+    if not pcm_cruise:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
+        events.append(EventName.buttonEnable)
     # do disable on button down
     if b.type == ButtonType.cancel and b.pressed:
       events.append(EventName.buttonCancel)

selfdrive/car/body/interface.py

@@ -17,6 +17,7 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf
+    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
     ret.steerRatio = 0.5
     ret.steerRateCost = 0.5
     ret.steerLimitTimer = 1.0

selfdrive/car/body/values.py

@@ -18,7 +18,7 @@ class CAR:
   BODY = "COMMA BODY"
 
 CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All", good_torque=True, harness=Harness.none),
+  CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
 }
 
 FW_VERSIONS = {

selfdrive/car/car_helpers.py

@@ -1,9 +1,11 @@
 import os
-from typing import Any, Dict, List
+from typing import Dict, List
 
+from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
 from selfdrive.version import is_comma_remote, is_tested_branch
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
@@ -11,7 +13,6 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
-from cereal import car
 EventName = car.CarEvent.EventName
 
 
@@ -59,19 +60,6 @@ def load_interfaces(brand_names):
   return ret
 
 
-def get_interface_attr(attr: str) -> Dict[str, Any]:
-  # returns given attribute from each interface
-  brand_names = {}
-  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
-    try:
-      brand_name = car_folder.split('/')[-1]
-      attr_data = getattr(__import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]), attr, None)
-      brand_names[brand_name] = attr_data
-    except (ImportError, OSError):
-      pass
-  return brand_names
-
-
 def _get_interface_names() -> Dict[str, List[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
@@ -116,6 +104,9 @@ def fingerprint(logcan, sendcan):
     vin = VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
 
+  if len(vin) != 17:
+    cloudlog.event("Malformed VIN", vin=vin, error=True)
+    vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
   Params().put("CarVin", vin)
 

selfdrive/car/chrysler/interface.py

@@ -23,6 +23,14 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
+    # set max lateral acceleration
+    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+      ret.maxLateralAccel = 1.6
+    if candidate in (CAR.PACIFICA_2018_HYBRID,):
+      ret.maxLateralAccel = 1.4
+    if candidate in (CAR.PACIFICA_2017_HYBRID,):
+      ret.maxLateralAccel = 1.2
+
     if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
       ret.wheelbase = 2.91  # in meters
       ret.steerRatio = 12.7

selfdrive/car/docs.py

@@ -15,9 +15,8 @@ from selfdrive.car.tests.routes import non_tested_cars
 
 def get_all_footnotes() -> Dict[Enum, int]:
   all_footnotes = []
-  for _, footnotes in get_interface_attr("Footnote").items():
-    if footnotes is not None:
-      all_footnotes += footnotes
+  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
+    all_footnotes += footnotes
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
@@ -28,21 +27,20 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
-  for models in get_interface_attr("CAR_INFO").values():
-    for model, car_info in models.items():
-      # Hyundai exception: those with radar have openpilot longitudinal
-      fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
-      CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
+  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
+    # Hyundai exception: those with radar have openpilot longitudinal
+    fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
+    CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
 
-      if CP.dashcamOnly or car_info is None:
-        continue
+    if CP.dashcamOnly or car_info is None:
+      continue
 
-      # A platform can include multiple car models
-      if not isinstance(car_info, list):
-        car_info = (car_info,)
+    # A platform can include multiple car models
+    if not isinstance(car_info, list):
+      car_info = (car_info,)
 
-      for _car_info in car_info:
-        all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+    for _car_info in car_info:
+      all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
 
   # Sort cars by make and model + year
   sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())

selfdrive/car/docs_definitions.py

@@ -1,9 +1,13 @@
+import math
+
 from cereal import car
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check
 
+STEERING_TORQUE_THRESHOLD = 2.0  # m/s^2
+
 
 class Tier(Enum):
   GOLD = "The best openpilot experience. Great highway driving and beyond."
@@ -66,6 +70,11 @@ class CarInfo:
     if self.min_enable_speed is not None:
       min_enable_speed = self.min_enable_speed
 
+    # TODO: remove hardcoded good torque and just use maxLateralAccel
+    good_torque = self.good_torque
+    if not math.isnan(CP.maxLateralAccel):
+      good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
+
     self.car_name = CP.carName
     self.make, self.model = self.name.split(' ', 1)
     self.row = {
@@ -76,7 +85,7 @@ class CarInfo:
       Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
       Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
       Column.FSR_STEERING: min_steer_speed <= 0.,
-      Column.STEERING_TORQUE: self.good_torque,
+      Column.STEERING_TORQUE: good_torque,
       Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
     }
 

selfdrive/car/fingerprints.py

@@ -1,44 +1,12 @@
-import os
-from common.basedir import BASEDIR
+from selfdrive.car.interfaces import get_interface_attr
 
 
-def get_attr_from_cars(attr, result=dict, combine_brands=True):
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models
-  # - values are attr values from all car folders
-  result = result()
-
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr])
-      if hasattr(values, attr):
-        attr_values = getattr(values, attr)
-      else:
-        continue
-
-      if isinstance(attr_values, dict):
-        for f, v in attr_values.items():
-          if combine_brands:
-            result[f] = v
-          else:
-            if car_name not in result:
-              result[car_name] = {}
-            result[car_name][f] = v
-      elif isinstance(attr_values, list):
-        result += attr_values
-
-    except (ImportError, OSError):
-      pass
-
-  return result
-
-
-FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
-_FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
+FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
+_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
+
 def is_valid_for_fingerprint(msg, car_fingerprint):
   adr = msg.address
   # ignore addresses that are more than 11 bits

selfdrive/car/fw_versions.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import struct
 import traceback
-from typing import Any, List
 from collections import defaultdict
-from dataclasses import dataclass
-
+from dataclasses import dataclass, field
+from typing import Any, List
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
-from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
+from selfdrive.car.interfaces import get_interface_attr
+from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.swaglog import cloudlog
@@ -96,9 +96,11 @@ class Request:
   brand: str
   request: List[bytes]
   response: List[bytes]
+  whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = DEFAULT_RX_OFFSET
   bus: int = 1
 
+
 REQUESTS: List[Request] = [
   # Subaru
   Request(
@@ -303,7 +305,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
   addrs = []
   parallel_addrs = []
 
-  versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
   if extra is not None:
     versions.update(extra)
 
@@ -328,23 +330,26 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
     for addr_chunk in chunks(addr):
       for r in REQUESTS:
         try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any')]
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
             t = 2 * timeout if i == 0 else timeout
-            fw_versions.update(query.get_data(t))
+            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
         except Exception:
           cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   # Build capnp list to put into CarParams
   car_fw = []
-  for addr, version in fw_versions.items():
+  for addr, (version, request, rx_offset) in fw_versions.items():
     f = car.CarParams.CarFw.new_message()
 
     f.ecu = ecu_types[addr]
     f.fwVersion = version
     f.address = addr[0]
+    f.responseAddress = addr[0] + rx_offset
+    f.request = request
 
     if addr[1] is not None:
       f.subAddress = addr[1]

selfdrive/car/gm/interface.py

@@ -75,6 +75,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
+      ret.maxLateralAccel = 1.6
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
@@ -108,6 +109,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
+      ret.maxLateralAccel = 1.4
       ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
 
     elif candidate == CAR.BUICK_REGAL:

selfdrive/car/honda/interface.py

@@ -100,6 +100,7 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
+        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
@@ -112,6 +113,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 1.
+      ret.maxLateralAccel = 1.6
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@@ -126,6 +128,7 @@ class CarInterface(CarInterfaceBase):
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
       else:
+        ret.maxLateralAccel = 1.6
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
@@ -162,6 +165,7 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
+        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
@@ -186,6 +190,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
+      ret.maxLateralAccel = 1.7
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
@@ -216,8 +221,9 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0  # as spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
+      ret.maxLateralAccel = 0.9
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
@@ -226,6 +232,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 11.95  # as spec
+      ret.maxLateralAccel = 1.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
@@ -238,6 +245,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.35  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
+      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:
@@ -258,6 +266,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.25  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
+      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
@@ -268,6 +277,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.59  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
+      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
@@ -278,6 +288,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.0  # 12.58 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
+      ret.maxLateralAccel = 1.4
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
@@ -367,7 +378,7 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.manualRestart)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents))
+    events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/interface.py

@@ -60,6 +60,7 @@ class CarInterface(CarInterfaceBase):
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
       tire_stiffness_factor = 0.82
+      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
     elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
@@ -68,6 +69,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
+      ret.maxLateralAccel = 2.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.SONATA_LF:
@@ -75,6 +77,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4497. * CV.LB_TO_KG
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
+      ret.maxLateralAccel = 1.8
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.PALISADE:
@@ -83,6 +86,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
+      ret.maxLateralAccel = 2.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@@ -139,6 +143,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
+      ret.maxLateralAccel = 3.0
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@@ -188,6 +193,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       tire_stiffness_factor = 0.385
+      ret.maxLateralAccel = 2.9
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate == CAR.KIA_NIRO_HEV:
@@ -219,6 +225,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1825. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
+      ret.maxLateralAccel = 2.4
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_FORTE:
@@ -244,6 +251,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
       tire_stiffness_factor = 0.5
+      ret.maxLateralAccel = 2.1
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_EV6:
@@ -254,8 +262,8 @@ class CarInterface(CarInterfaceBase):
                            get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
 
-      max_lat_accel = 2.
-      set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01)
+      ret.maxLateralAccel = 2.
+      set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:

selfdrive/car/interfaces.py

@@ -1,13 +1,14 @@
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Dict, Tuple, List
+from typing import Any, Dict, Tuple, List
 
 from cereal import car
+from common.basedir import BASEDIR
+from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
-from common.conversions import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -22,7 +23,6 @@ ACCEL_MIN = -3.5
 
 # generic car and radar interfaces
 
-
 class CarInterfaceBase(ABC):
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
@@ -81,6 +81,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
+    ret.maxLateralAccel = float('nan')
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -293,3 +294,31 @@ class CarStateBase(ABC):
   @staticmethod
   def get_loopback_can_parser(CP):
     return None
+
+
+# interface-specific helpers
+
+def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]:
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car models or brand names
+  # - values are attr values from all car folders
+  result = {}
+  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
+    try:
+      brand_name = car_folder.split('/')[-1]
+      brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr])
+      if hasattr(brand_values, attr) or not ignore_none:
+        attr_data = getattr(brand_values, attr, None)
+      else:
+        continue
+
+      if combine_brands:
+        if isinstance(attr_data, dict):
+          for f, v in attr_data.items():
+            result[f] = v
+      else:
+        result[brand_name] = attr_data
+    except (ImportError, OSError):
+      pass
+
+  return result

selfdrive/car/isotp_parallel_query.py

@@ -132,7 +132,7 @@ class IsoTpParallelQuery:
             request_done[tx_addr] = True
         else:
           request_done[tx_addr] = True
-          cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
+          cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
       cur_time = time.monotonic()
       if cur_time - last_response_time > timeout:

selfdrive/car/subaru/interface.py

@@ -51,6 +51,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
+      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@@ -61,6 +62,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
+      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]

selfdrive/car/subaru/values.py

@@ -43,14 +43,14 @@ class SubaruCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"),
   CAR.IMPREZA: [
-    SubaruCarInfo("Subaru Impreza 2017-19", good_torque=True),
-    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26", good_torque=True),
+    SubaruCarInfo("Subaru Impreza 2017-19"),
+    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
   ],
   CAR.IMPREZA_2020: [
     SubaruCarInfo("Subaru Impreza 2020-21"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
   ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", good_torque=True),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),

selfdrive/car/tests/routes.py

@@ -26,7 +26,7 @@ non_tested_cars = [
   HYUNDAI.KIA_OPTIMA_H,
 ]
 
-TestRoute = namedtuple('TestRoute', ['route', 'car_fingerprint', 'segment'], defaults=(None,))
+TestRoute = namedtuple('TestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
 
 routes = [
   TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),

selfdrive/car/tests/test_docs.py

@@ -18,7 +18,7 @@ class TestCarDocs(unittest.TestCase):
                      "Run selfdrive/car/docs.py to generate new supported cars documentation")
 
   def test_missing_car_info(self):
-    all_car_info_platforms = [p for i in get_interface_attr("CAR_INFO").values() for p in i]
+    all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
     for platform in sorted(interfaces.keys()):
       if platform not in all_car_info_platforms:
         self.fail("Platform: {} doesn't exist in CarInfo".format(platform))

selfdrive/car/tests/test_fw_fingerprint.py

@@ -4,9 +4,9 @@ import unittest
 from parameterized import parameterized
 
 from cereal import car
-from selfdrive.car.car_helpers import interfaces
+from selfdrive.car.car_helpers import get_interface_attr, interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -57,6 +57,23 @@ class TestFwFingerprint(unittest.TestCase):
 
     self.assertTrue(passed, "Blacklisted FW versions found")
 
+  def test_fw_request_ecu_whitelist(self):
+    passed = True
+    brands = set(r.brand for r in REQUESTS)
+    versions = get_interface_attr('FW_VERSIONS')
+    for brand in brands:
+      whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
+      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
+
+      # each ecu in brand's fw versions needs to be whitelisted at least once
+      ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
+      if len(whitelisted_ecus) and len(ecus_not_whitelisted):
+        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
+        print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+        passed = False
+
+    self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists")
+
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/tests/test_models.py

@@ -18,6 +18,7 @@ from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
+from tools.lib.route import Route
 
 from panda.tests.safety import libpandasafety_py
 from panda.tests.safety.common import package_can_msg
@@ -35,7 +36,7 @@ ignore_addr_checks_valid = [
 # build list of test cases
 routes_by_car = defaultdict(set)
 for r in routes:
-  routes_by_car[r.car_fingerprint].add(r)
+  routes_by_car[r.car_model].add(r)
 
 test_cases: List[Tuple[str, Optional[TestRoute]]] = []
 for i, c in enumerate(sorted(all_known_cars())):
@@ -45,12 +46,17 @@ for i, c in enumerate(sorted(all_known_cars())):
 SKIP_ENV_VAR = "SKIP_LONG_TESTS"
 
 
-@parameterized_class(('car_model', 'test_route'), test_cases)
-class TestCarModel(unittest.TestCase):
+class TestCarModelBase(unittest.TestCase):
+  car_model = None
+  test_route = None
+  ci = True
 
   @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
   def setUpClass(cls):
+    if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
+      raise unittest.SkipTest
+
     if cls.test_route is None:
       if cls.car_model in non_tested_cars:
         print(f"Skipping tests for {cls.car_model}: missing route")
@@ -64,7 +70,10 @@ class TestCarModel(unittest.TestCase):
 
     for seg in test_segs:
       try:
-        lr = LogReader(get_url(cls.test_route.route, seg))
+        if cls.ci:
+          lr = LogReader(get_url(cls.test_route.route, seg))
+        else:
+          lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
       except Exception:
         continue
 
@@ -79,6 +88,8 @@ class TestCarModel(unittest.TestCase):
         elif msg.which() == "carParams":
           if msg.carParams.openpilotLongitudinalControl:
             disable_radar = True
+          if cls.car_model is None and not cls.ci:
+            cls.car_model = msg.carParams.carFingerprint
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
@@ -249,5 +260,10 @@ class TestCarModel(unittest.TestCase):
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
 
+@parameterized_class(('car_model', 'test_route'), test_cases)
+class TestCarModel(TestCarModelBase):
+  pass
+
+
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/toyota/interface.py

@@ -38,7 +38,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.7, FRICTION=0.06)
+      ret.maxLateralAccel = 1.7
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
@@ -46,7 +47,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      ret.maxLateralAccel = 1.8
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -54,14 +56,16 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      ret.maxLateralAccel = 1.8
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.8, FRICTION=0.024)
+      ret.maxLateralAccel = 2.8
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
       stop_and_go = True
@@ -70,6 +74,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.035
       tire_stiffness_factor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.maxLateralAccel = 1.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.CHR, CAR.CHRH):
@@ -78,6 +83,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.maxLateralAccel = 1.3
       set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
 
     elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@@ -87,8 +93,10 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
+        ret.maxLateralAccel = 2.4
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
       else:
+        ret.maxLateralAccel = 2.0
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@@ -97,6 +105,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
+      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -105,6 +114,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
+      ret.maxLateralAccel = 1.8
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@@ -115,6 +125,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
+      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
     elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@@ -123,6 +134,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
+      ret.maxLateralAccel = 2.5
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@@ -138,7 +150,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
+      ret.maxLateralAccel = 2.0
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True
@@ -146,6 +159,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.maxLateralAccel = 2.2
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
     elif candidate == CAR.SIENNA:
@@ -154,6 +168,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@@ -177,6 +192,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate == CAR.PRIUS_TSS2:
@@ -185,6 +201,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
@@ -193,6 +210,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.maxLateralAccel = 2.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):

selfdrive/car/toyota/tunes.py

@@ -50,7 +50,7 @@ def set_long_tune(tune, name):
 
 
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1, use_steering_angle=True):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True):
   if name == LatTunes.TORQUE:
     set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION)
   elif 'PID' in str(name):

selfdrive/car/toyota/values.py

@@ -100,7 +100,6 @@ class Footnote(Enum):
 @dataclass
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
-  good_torque: bool = True
   harness: Enum = Harness.toyota
 
 

selfdrive/car/volkswagen/interface.py

@@ -80,14 +80,17 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.ATLAS_MK1:
       ret.mass = 2011 + STD_CARGO_KG
       ret.wheelbase = 2.98
+      ret.maxLateralAccel = 1.4
 
     elif candidate == CAR.GOLF_MK7:
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62
+      ret.maxLateralAccel = 1.5
 
     elif candidate == CAR.JETTA_MK7:
       ret.mass = 1328 + STD_CARGO_KG
       ret.wheelbase = 2.71
+      ret.maxLateralAccel = 1.2
 
     elif candidate == CAR.PASSAT_MK8:
       ret.mass = 1551 + STD_CARGO_KG
@@ -113,6 +116,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.TIGUAN_MK2:
       ret.mass = 1715 + STD_CARGO_KG
       ret.wheelbase = 2.74
+      ret.maxLateralAccel = 1.1
 
     elif candidate == CAR.TOURAN_MK2:
       ret.mass = 1516 + STD_CARGO_KG
@@ -130,6 +134,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61
+      ret.maxLateralAccel = 1.7
 
     elif candidate == CAR.AUDI_Q2_MK1:
       ret.mass = 1205 + STD_CARGO_KG
@@ -138,6 +143,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_Q3_MK2:
       ret.mass = 1623 + STD_CARGO_KG
       ret.wheelbase = 2.68
+      ret.maxLateralAccel = 1.6
 
     elif candidate == CAR.SEAT_ATECA_MK1:
       ret.mass = 1900 + STD_CARGO_KG

selfdrive/car/volkswagen/values.py

@@ -141,7 +141,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Jetta 2018-21"),
     VWCarInfo("Volkswagen Jetta GLI 2021"),
   ],
-  CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-18", footnotes=[Footnote.PASSAT]),
+  CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]),
   CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat 2017, 2021", footnotes=[Footnote.PASSAT_NMS]),
   CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -452,6 +452,7 @@ FW_VERSIONS = {
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300043H \xf1\x891601',
       b'\xf1\x870CW300048R \xf1\x890610',
       b'\xf1\x870D9300014L \xf1\x895002',
       b'\xf1\x870D9300041A \xf1\x894801',
@@ -463,6 +464,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
     ],
     (Ecu.eps, 0x712, None): [
@@ -471,11 +473,13 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x873Q0907572A \xf1\x890130',
       b'\xf1\x873Q0907572B \xf1\x890192',
       b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x873Q0907572C \xf1\x890196',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },

selfdrive/controls/controlsd.py

@@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE, TICI
+from selfdrive.hardware import HARDWARE
 from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds
@@ -68,17 +68,14 @@ class Controls:
       self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
                                      'carControl', 'carEvents', 'carParams'])
 
-    self.camera_packets = ["roadCameraState", "driverCameraState"]
-    if TICI:
-      self.camera_packets.append("wideRoadCameraState")
+    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
     self.can_sock = can_sock
     if can_sock is None:
       can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
       self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
 
-    if TICI:
-      self.log_sock = messaging.sub_sock('androidLog')
+    self.log_sock = messaging.sub_sock('androidLog')
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -358,17 +355,16 @@ class Controls:
     if planner_fcw or model_fcw:
       self.events.add(EventName.fcw)
 
-    if TICI:
-      for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
-        try:
-          msg = m.androidLog.message
-          if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
-            csid = msg.split("CSID:")[-1].split(" ")[0]
-            evt = CSID_MAP.get(csid, None)
-            if evt is not None:
-              self.events.add(evt)
-        except UnicodeDecodeError:
-          pass
+    for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
+      try:
+        msg = m.androidLog.message
+        if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
+          csid = msg.split("CSID:")[-1].split(" ")[0]
+          evt = CSID_MAP.get(csid, None)
+          if evt is not None:
+            self.events.add(evt)
+      except UnicodeDecodeError:
+        pass
 
     # TODO: fix simulator
     if not SIMULATION:

selfdrive/controls/lib/events.py

@@ -284,7 +284,7 @@ def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
 
 def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
-  bad_cams = [s for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
+  bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
   return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
 
 

selfdrive/controls/lib/lane_planner.py

@@ -3,20 +3,14 @@ from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
 from common.realtime import DT_MDL
-from selfdrive.hardware import TICI
 from selfdrive.swaglog import cloudlog
 
 
 TRAJECTORY_SIZE = 33
 # camera offset is meters from center car to camera
-# model path is in the frame of the camera. Empirically 
-# the model knows the difference between TICI and EON
-# so a path offset is not needed
+# model path is in the frame of the camera
 PATH_OFFSET = 0.00
-if TICI:
-  CAMERA_OFFSET = 0.04
-else:
-  CAMERA_OFFSET = 0.0
+CAMERA_OFFSET = 0.04
 
 
 class LanePlanner:

selfdrive/controls/lib/latcontrol_torque.py

@@ -22,7 +22,7 @@ LOW_SPEED_FACTOR = 200
 JERK_THRESHOLD = 0.2
 
 
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=.1):
+def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01):
   tune.init('torque')
   tune.torque.useSteeringAngle = True
   tune.torque.kp = 1.0 / MAX_LAT_ACCEL

selfdrive/controls/plannerd.py

@@ -5,19 +5,18 @@ from common.realtime import Priority, config_realtime_process
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
-from selfdrive.hardware import TICI
 import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
+  config_realtime_process(5, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  use_lanelines = not params.get_bool('EndToEndToggle')
+  use_lanelines = False
   wide_camera = params.get_bool('WideCameraOnly')
 
   cloudlog.event("e2e mode", on=use_lanelines)

selfdrive/controls/radard.py

@@ -11,7 +11,6 @@ from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
 from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import TICI
 
 
 class KalmanParams():
@@ -180,7 +179,7 @@ class RadarD():
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
+  config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")

selfdrive/debug/test_car_model.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+from typing import List, Tuple
+import unittest
+
+from selfdrive.car.tests.routes import TestRoute
+from selfdrive.car.tests.test_models import TestCarModel
+
+
+def create_test_models_suite(routes: List[Tuple[str, TestRoute]], ci=False) -> unittest.TestSuite:
+  test_suite = unittest.TestSuite()
+  for car_model, test_route in routes:
+    # create new test case and discover tests
+    test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci}
+    CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
+    test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
+  return test_suite
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
+                                               "Uses selfdrive/car/tests/test_models.py")
+  parser.add_argument("route", help="Specify route to run tests on")
+  parser.add_argument("--car", help="Specify car model for test route")
+  parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test")
+  parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
+  args = parser.parse_args()
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+
+  test_route = TestRoute(args.route, args.car, segment=args.segment)
+  test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci)
+
+  unittest.TextTestRunner().run(test_suite)

selfdrive/hardware/__init__.py

@@ -6,6 +6,7 @@ from selfdrive.hardware.tici.hardware import Tici
 from selfdrive.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
+AGNOS = TICI
 PC = not TICI
 
 

selfdrive/hardware/base.h

@@ -2,6 +2,7 @@
 
 #include <cstdlib>
 #include <fstream>
+#include "cereal/messaging/messaging.h"
 
 // no-op base hw class
 class HardwareNone {
@@ -10,6 +11,10 @@ public:
   static constexpr float MIN_VOLUME = 0.2;
 
   static std::string get_os_version() { return ""; }
+  static std::string get_name() { return ""; };
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; };
+  static int get_voltage() { return 0; };
+  static int get_current() { return 0; };
 
   static void reboot() {}
   static void poweroff() {}
@@ -21,4 +26,5 @@ public:
 
   static bool PC() { return false; }
   static bool TICI() { return false; }
+  static bool AGNOS() { return false; }
 };

selfdrive/hardware/hw.h

@@ -10,8 +10,11 @@
 class HardwarePC : public HardwareNone {
 public:
   static std::string get_os_version() { return "openpilot for PC"; }
+  static std::string get_name() { return "pc"; };
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; };
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
+  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };
 #define Hardware HardwarePC
 #endif

selfdrive/hardware/tici/agnos.json

@@ -1,10 +1,10 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954.img.xz",
-    "hash": "0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954",
-    "hash_raw": "0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954",
-    "size": 14776320,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz",
+    "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
+    "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
+    "size": 14780416,
     "sparse": false,
     "full_check": true,
     "has_ab": true
@@ -41,9 +41,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-9b0b534ed0c35c25850dbb73d3f052611f2e2c9db32410edc25d75fbcfc6c15e.img.xz",
-    "hash": "b1f622f00037bbdb28c0a6016c0e42fa7f87e99591ff2417c757a67ff559b526",
-    "hash_raw": "9b0b534ed0c35c25850dbb73d3f052611f2e2c9db32410edc25d75fbcfc6c15e",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz",
+    "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36",
+    "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,

selfdrive/hardware/tici/hardware.h

@@ -12,9 +12,15 @@ public:
   static constexpr float MAX_VOLUME = 0.9;
   static constexpr float MIN_VOLUME = 0.2;
   static bool TICI() { return true; }
+  static bool AGNOS() { return true; }
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
   };
+  static std::string get_name() { return "tici"; };
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; };
+  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); };
+  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); };
+
 
   static void reboot() { std::system("sudo reboot"); };
   static void poweroff() { std::system("sudo poweroff"); };

selfdrive/hardware/tici/test_power_draw.py

@@ -16,11 +16,11 @@ class Proc:
   power: float
   rtol: float = 0.05
   atol: float = 0.1
-  warmup: float = 3.
+  warmup: float = 6.
 
 PROCS = [
-  Proc('camerad', 2.25),
-  Proc('modeld', 0.95),
+  Proc('camerad', 2.15),
+  Proc('modeld', 1.0),
   Proc('dmonitoringmodeld', 0.25),
   Proc('encoderd', 0.23),
 ]

selfdrive/locationd/laikad.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import threading
+import time
 from typing import List
 
 import numpy as np
@@ -8,7 +10,9 @@ from numpy.linalg import linalg
 
 from cereal import log, messaging
 from laika import AstroDog
-from laika.ephemeris import convert_ublox_ephem
+from laika.constants import SECS_IN_HR, SECS_IN_MIN
+from laika.ephemeris import EphemerisType, convert_ublox_ephem
+from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
 from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
@@ -22,14 +26,18 @@ MAX_TIME_GAP = 10
 
 class Laikad:
 
-  def __init__(self, use_internet):
-    self.astro_dog = AstroDog(use_internet=use_internet)
+  def __init__(self, valid_const=("GPS",), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)):
+    self.astro_dog = AstroDog(valid_const=valid_const, use_internet=auto_update, valid_ephem_types=valid_ephem_types)
     self.gnss_kf = GNSSKalman(GENERATED_DIR)
+    self.latest_epoch_fetched = GPSTime(0, 0)
+    self.latest_time_msg = None
 
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int):
     if ublox_msg.which == 'measurementReport':
       report = ublox_msg.measurementReport
       new_meas = read_raw_ublox(report)
+      if report.gpsWeek > 0:
+        self.latest_time_msg = GPSTime(report.gpsWeek, report.rcvTow)
       measurements = process_measurements(new_meas, self.astro_dog)
       pos_fix = calc_pos_fix(measurements, min_measurements=4)
       # To get a position fix a minimum of 5 measurements are needed.
@@ -41,29 +49,29 @@ class Laikad:
       t = ublox_mono_time * 1e-9
       self.update_localizer(pos_fix, t, corrected_measurements)
       localizer_valid = self.localizer_valid(t)
+
       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
       ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
 
-      pos_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_POS]))
-      vel_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_VELOCITY]))
+      pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist()
+      vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist()
 
       bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std)
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
-
       dat = messaging.new_message("gnssMeasurements")
-      measurement_msg = log.GnssMeasurements.Measurement.new_message
+      measurement_msg = log.LiveLocationKalman.Measurement.new_message
       dat.gnssMeasurements = {
         "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid),
         "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid),
-        "bearingDeg": measurement_msg(value=[bearing_deg], std=bearing_std, valid=localizer_valid),
+        "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
       }
       return dat
     elif ublox_msg.which == 'ephemeris':
       ephem = convert_ublox_ephem(ublox_msg.ephemeris)
-      self.astro_dog.add_ephem(ephem, self.astro_dog.orbits)
+      self.astro_dog.add_ephems([ephem], self.astro_dog.nav)
     # elif ublox_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
@@ -77,7 +85,7 @@ class Laikad:
       filter_time = self.gnss_kf.filter.filter_time
       if filter_time is None:
         cloudlog.info("Init gnss kalman filter")
-      elif (t - filter_time) > MAX_TIME_GAP:
+      elif abs(t - filter_time) > MAX_TIME_GAP:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       else:
         cloudlog.error("Gnss kalman filter state is nan")
@@ -90,8 +98,7 @@ class Laikad:
 
   def localizer_valid(self, t: float):
     filter_time = self.gnss_kf.filter.filter_time
-    return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and \
-           all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))
+    return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))
 
   def init_gnss_localizer(self, est_pos):
     x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial))
@@ -100,6 +107,22 @@ class Laikad:
 
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
+  def orbit_thread(self, end_event: threading.Event):
+    while not end_event.is_set():
+      if self.latest_time_msg:
+        self.fetch_orbits(self.latest_time_msg)
+        time.sleep(0.1)
+
+  def fetch_orbits(self, t: GPSTime):
+    if self.latest_epoch_fetched < t + SECS_IN_MIN:
+      cloudlog.info("Start to download/parse orbits")
+      orbit_ephems = self.astro_dog.download_parse_orbit_data(t, skip_before_epoch=t - 2 * SECS_IN_HR)
+      if len(orbit_ephems) > 0:
+        cloudlog.info(f"downloaded and parsed correctly new orbits {len(orbit_ephems)}, Constellations:{set([e.prn[0] for e in orbit_ephems])}")
+        self.astro_dog.add_ephems(orbit_ephems, self.astro_dog.orbits)
+        latest_orbit = max(orbit_ephems, key=lambda e: e.epoch)  # type: ignore
+        self.latest_epoch_fetched = latest_orbit.epoch
+
 
 def create_measurement_msg(meas: GNSSMeasurement):
   c = log.GnssMeasurements.CorrectedMeasurement.new_message()
@@ -136,7 +159,7 @@ def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std):
 
   ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel)
   bearing = np.arctan2(ned_vel[1], ned_vel[0])
-  bearing_std = np.arctan2(vel_std, np.linalg.norm(ned_vel))
+  bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel))
   return float(np.rad2deg(bearing)), float(bearing_std)
 
 
@@ -144,16 +167,22 @@ def main():
   sm = messaging.SubMaster(['ubloxGnss'])
   pm = messaging.PubMaster(['gnssMeasurements'])
 
-  laikad = Laikad(use_internet=True)
-
-  while True:
-    sm.update()
-
-    if sm.updated['ubloxGnss']:
-      ublox_msg = sm['ubloxGnss']
-      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
-      if msg is not None:
-        pm.send('gnssMeasurements', msg)
+  laikad = Laikad()
+
+  end_event = threading.Event()
+  threading.Thread(target=laikad.orbit_thread, args=(end_event,)).start()
+  try:
+    while not end_event.is_set():
+      sm.update()
+
+      if sm.updated['ubloxGnss']:
+        ublox_msg = sm['ubloxGnss']
+        msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
+        if msg is not None:
+          pm.send('gnssMeasurements', msg)
+  except (KeyboardInterrupt, SystemExit):
+    end_event.set()
+    raise
 
 
 if __name__ == "__main__":

selfdrive/locationd/test/test_laikad.py

@@ -2,9 +2,10 @@
 import unittest
 from datetime import datetime
 
+from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement
+from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
 from selfdrive.locationd.laikad import Laikad, create_measurement_msg
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
@@ -17,11 +18,11 @@ def get_log(segs=range(0)):
   return [m for m in logs if m.which() == 'ubloxGnss']
 
 
-def process_msgs(lr, laikad: Laikad):
+def verify_messages(lr, laikad):
   good_msgs = []
   for m in lr:
     msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime)
-    if msg is not None:
+    if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
   return good_msgs
 
@@ -42,32 +43,63 @@ class TestLaikad(unittest.TestCase):
     self.assertEqual(msg.constellationId, 'gps')
 
   def test_laika_online(self):
-    # Set to offline forces to use ephemeris messages
-    laikad = Laikad(use_internet=True)
-    msgs = process_msgs(self.logs, laikad)
-    correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0]
+    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
+    correct_msgs = verify_messages(self.logs, laikad)
+
+    correct_msgs_expected = 560
+    self.assertEqual(correct_msgs_expected, len(correct_msgs))
+    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+
+  def test_laika_online_nav_only(self):
+    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
+    correct_msgs = verify_messages(self.logs, laikad)
+
     correct_msgs_expected = 560
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_offline(self):
-    # Set to offline forces to use ephemeris messages
-    laikad = Laikad(use_internet=False)
-    msgs = process_msgs(self.logs, laikad)
-    correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0]
+    # Set auto_update to false forces to use ephemeris messages
+    laikad = Laikad(auto_update=False)
+    correct_msgs = verify_messages(self.logs, laikad)
 
     self.assertEqual(256, len(correct_msgs))
     self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_offline_ephem_at_start(self):
     # Test offline but process ephemeris msgs of segment first
-    laikad = Laikad(use_internet=False)
+    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
     ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris']
-    msgs = process_msgs(ephemeris_logs+self.logs, laikad)
-    correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0]
+    correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad)
+
     self.assertEqual(554, len(correct_msgs))
     self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
+  def test_laika_get_orbits(self):
+    laikad = Laikad(auto_update=False)
+    first_gps_time = None
+    for m in self.logs:
+      if m.ubloxGnss.which == 'measurementReport':
+        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
+        if len(new_meas) != 0:
+          first_gps_time = new_meas[0].recv_time
+          break
+    # Pretend thread has loaded the orbits on startup by using the time of the first gps message.
+    laikad.fetch_orbits(first_gps_time)
+    self.assertEqual(31, len(laikad.astro_dog.orbits.keys()))
+    correct_msgs = verify_messages(self.logs, laikad)
+    correct_msgs_expected = 560
+    self.assertEqual(correct_msgs_expected, len(correct_msgs))
+    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+
+  @unittest.skip("Use to debug live data")
+  def test_laika_get_orbits_now(self):
+    laikad = Laikad(auto_update=False)
+    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()))
+    print(laikad.latest_epoch_fetched.as_datetime())
+
+    print(min(laikad.astro_dog.orbits[list(laikad.astro_dog.orbits.keys())[0]], key=lambda e: e.epoch).epoch.as_datetime())
+
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/loggerd/bootlog.cc

@@ -8,7 +8,7 @@
 
 static kj::Array<capnp::word> build_boot_log() {
   std::vector<std::string> bootlog_commands;
-  if (Hardware::TICI()) {
+  if (Hardware::AGNOS()) {
     bootlog_commands.push_back("journalctl");
     bootlog_commands.push_back("sudo nvme smart-log --output-format=json /dev/nvme0");
   }

selfdrive/loggerd/encoderd.cc

@@ -133,7 +133,7 @@ void encoderd_thread() {
 }
 
 int main() {
-  if (Hardware::TICI()) {
+  if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(52);
     assert(ret == 0);

selfdrive/loggerd/logger.cc

@@ -33,12 +33,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   MessageBuilder msg;
   auto init = msg.initEvent().initInitData();
 
-  if (Hardware::TICI()) {
-    init.setDeviceType(cereal::InitData::DeviceType::TICI);
-  } else {
-    init.setDeviceType(cereal::InitData::DeviceType::PC);
-  }
-
+  init.setDeviceType(Hardware::get_device_type());
   init.setVersion(COMMA_VERSION);
 
   std::ifstream cmdline_stream("/proc/cmdline");

selfdrive/loggerd/loggerd.cc

@@ -267,7 +267,7 @@ void loggerd_thread() {
 }
 
 int main(int argc, char** argv) {
-  if (Hardware::TICI()) {
+  if (!Hardware::PC()) {
     int ret;
     ret = util::set_core_affinity({0, 1, 2, 3});
     assert(ret == 0);
@@ -279,4 +279,4 @@ int main(int argc, char** argv) {
   loggerd_thread();
 
   return 0;
-}
+}

selfdrive/loggerd/loggerd.h

@@ -33,8 +33,8 @@
 #endif
 
 constexpr int MAIN_FPS = 20;
-const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
-const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
+const int MAIN_BITRATE = 10000000;
+const int DCAM_BITRATE = MAIN_BITRATE;
 
 #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
 
@@ -89,8 +89,8 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = Hardware::TICI(),
-    .record = Hardware::TICI(),
+    .enable = true,
+    .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
   },
@@ -102,6 +102,6 @@ const LogCameraInfo qcam_info = {
   .is_h265 = false,
   .enable = true,
   .record = true,
-  .frame_width = Hardware::TICI() ? 526 : 480,
-  .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
+  .frame_width = 526,
+  .frame_height = 330,
 };

selfdrive/loggerd/tests/test_loggerd.py

@@ -15,14 +15,12 @@ from cereal.services import service_list
 from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.version import get_version
 from tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.transformations.camera import eon_f_frame_size, tici_f_frame_size, \
-                                          eon_d_frame_size, tici_d_frame_size, tici_e_frame_size
+from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -108,20 +106,15 @@ class TestLoggerd(unittest.TestCase):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
 
-    expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216) if TICI else eon_f_frame_size, "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216) if TICI else eon_d_frame_size, "driverCameraState")]
-    if TICI:
-      expected_files.add("ecamera.hevc")
-      streams.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState"))
+    expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
+    streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"),
+               (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"),
+               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
 
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
-      if TICI:
-        vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
-      else:
-        vipc_server.create_buffers(stream_type, 40, False, *(frame_spec))
+      vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
     vipc_server.start_listener()
 
     for _ in range(5):
@@ -134,10 +127,7 @@ class TestLoggerd(unittest.TestCase):
       fps = 20.0
       for n in range(1, int(num_segs*length*fps)+1):
         for stream_type, frame_spec, state in streams:
-          if TICI:
-            dat = np.empty(frame_spec[2], dtype=np.uint8)
-          else:
-            dat = np.empty(int(frame_spec[0]*frame_spec[1]*3/2), dtype=np.uint8)
+          dat = np.empty(frame_spec[2], dtype=np.uint8)
           vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
 
           camera_state = messaging.new_message(state)

selfdrive/manager/build.py

@@ -10,14 +10,14 @@ from pathlib import Path
 from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
-from selfdrive.hardware import TICI
+from selfdrive.hardware import AGNOS
 from selfdrive.swaglog import cloudlog, add_file_handler
 from selfdrive.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
-CACHE_DIR = Path("/data/scons_cache" if TICI else "/tmp/scons_cache")
+CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2405
+TOTAL_SCONS_NODES = 2035
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 

selfdrive/manager/process_config.py

@@ -2,7 +2,7 @@ import os
 
 from cereal import car
 from common.params import Params
-from selfdrive.hardware import TICI, PC
+from selfdrive.hardware import PC
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -21,16 +21,16 @@ procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
   NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
-  NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
+  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if TICI else None)),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
@@ -45,7 +45,7 @@ procs = [
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
-  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, offroad=True),
+  PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True),
   PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
   PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
   PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),

selfdrive/manager/test/test_manager.py

@@ -5,7 +5,7 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import TICI, HARDWARE
+from selfdrive.hardware import AGNOS, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
 
@@ -50,7 +50,7 @@ class TestManager(unittest.TestCase):
       self.assertTrue(state.running, f"{p} not running")
 
       exit_code = managed_processes[p].stop(retry=False)
-      if (TICI and p in ['ui',]):
+      if (AGNOS and p in ['ui',]):
         # TODO: make Qt UI exit gracefully
         continue
 

selfdrive/modeld/modeld.cc

@@ -163,7 +163,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
 }
 
 int main(int argc, char **argv) {
-  if (Hardware::TICI()) {
+  if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(54);
     assert(ret == 0);

selfdrive/modeld/models/README.md

@@ -23,64 +23,8 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
   * The recurrent state vector that is fed back into the GRU for temporal context : 512
 
 
-### Supercombo output format (Full size: 6472 x float32)
-* **plan**
-  * 5 potential desired plan predictions : 4955 = 5 * 991
-    * predicted mean and standard deviation of the following values at 33 timesteps : 990 = 2 * 33 * 15
-      * x,y,z position in current frame (meters)
-      * x,y,z velocity in local frame (meters/s)
-      * x,y,z acceleration local frame (meters/(s*s))
-      * roll, pitch , yaw in current frame (radians)
-      * roll, pitch , yaw rates in local frame (radians/s)
-    * probability[^1] of this plan hypothesis being the most likely: 1
-* **lanelines**
-  * 4 lanelines (outer left, left, right, and outer right): 528 = 4 * 132
-    * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2
-      * y position in current frame (meters)
-      * z position in current frame (meters)
-* **laneline probabilties**
-  * 2 probabilities[^1] that each of the 4 lanelines exists : 8 = 4 * 2
-    * deprecated probability
-    * used probability
-* **road-edges**
-  * 2 road-edges (left and right): 264 = 2 * 132
-    * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2
-      * y position in current frame (meters)
-      * z position in current frame (meters)
-* **leads**
-  * 2 hypotheses for potential lead cars : 102 = 2 * 51
-    * predicted mean and stadard deviation for the following values at 0,2,4,6,8,10s : 48 = 2 * 6 * 4
-      * x position of lead in current frame (meters)
-      * y position of lead in current frame (meters)
-      * speed of lead (meters/s)
-      * acceleration of lead(meters/(s*s))
-    * probabilities[^1] this hypothesis is the most likely hypothesis at 0s, 2s or 4s from now : 3
-* **lead probabilities**
-  * probability[^1] that there is a lead car at 0s, 2s, 4s from now : 3 = 1 * 3
-* **desire state**
-  * probability[^1] that the model thinks it is executing each of the 8 potential desire actions : 8
-* **meta** [^2]
-  * Various metadata about the scene : 80 = 1 + 35 + 12 + 32
-    * Probability[^1] that openpilot is engaged : 1
-    * Probabilities[^1] of various things happening between now and 2,4,6,8,10s : 35 = 5 * 7
-      * Disengage of openpilot with gas pedal
-      * Disengage of openpilot with brake pedal
-      * Override of openpilot steering
-      * 3m/(s*s) of deceleration
-      * 4m/(s*s) of deceleration
-      * 5m/(s*s) of deceleration
-    * Probabilities[^1] of left or right blinker being active at 0,2,4,6,8,10s : 12 = 6 * 2
-    * Probabilities[^1] that each of the 8 desires is being executed at 0,2,4,6s : 32 = 4 * 8
-
-* **pose** [^2]
-  * predicted mean and standard deviation of current translation and rotation rates : 12 = 2 * 6
-    * x,y,z velocity in current frame (meters/s)
-    * roll, pitch , yaw rates in current frame (radians/s)
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
-
-[^1]: All probabilities are in logits, so you need to apply sigmoid or softmax functions to get actual probabilities
-[^2]: These outputs come directly from the vision blocks, they do not have access to temporal state or the desire input
+### Supercombo output format (Full size: XXX x float32)
+Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
 
 
 ## Driver Monitoring Model

selfdrive/modeld/models/dmonitoring.cc

@@ -69,22 +69,13 @@ void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8
 }
 
 DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  Rect crop_rect;
-  if (width == TICI_CAM_WIDTH) {
-    const int cropped_height = tici_dm_crop::width / 1.33;
-    crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
-                 height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
-                 cropped_height / 2,
-                 cropped_height};
-    if (!s->is_rhd) {
-      crop_rect.x += tici_dm_crop::width - crop_rect.w;
-    }
-  } else {
-    const int adapt_width = 372;
-    crop_rect = {0, 0, adapt_width, height};
-    if (!s->is_rhd) {
-      crop_rect.x += width - crop_rect.w;
-    }
+  const int cropped_height = tici_dm_crop::width / 1.33;
+  Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
+                height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
+                cropped_height / 2,
+                cropped_height};
+  if (!s->is_rhd) {
+    crop_rect.x += tici_dm_crop::width - crop_rect.w;
   }
 
   int resized_width = MODEL_WIDTH;
@@ -108,31 +99,16 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
   uint8_t *resized_y = resized_buf;
   libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
-  if (Hardware::TICI()) {
-    libyuv::I420Scale(cropped_y, crop_rect.w,
-                    cropped_u, crop_rect.w / 2,
-                    cropped_v, crop_rect.w / 2,
-                    crop_rect.w, crop_rect.h,
-                    resized_y, resized_width,
-                    resized_u, resized_width / 2,
-                    resized_v, resized_width / 2,
-                    resized_width, resized_height,
-                    mode);
-  } else {
-    const int source_height = 0.7*resized_height;
-    const int extra_height = (resized_height - source_height) / 2;
-    const int extra_width = (resized_width - source_height / 2) / 2;
-    const int source_width = source_height / 2 + extra_width;
-    libyuv::I420Scale(cropped_y, crop_rect.w,
-                    cropped_u, crop_rect.w / 2,
-                    cropped_v, crop_rect.w / 2,
-                    crop_rect.w, crop_rect.h,
-                    resized_y + extra_height * resized_width, resized_width,
-                    resized_u + extra_height / 2 * resized_width / 2, resized_width / 2,
-                    resized_v + extra_height / 2 * resized_width / 2, resized_width / 2,
-                    source_width, source_height,
-                    mode);
-  }
+  libyuv::I420Scale(cropped_y, crop_rect.w,
+                  cropped_u, crop_rect.w / 2,
+                  cropped_v, crop_rect.w / 2,
+                  crop_rect.w, crop_rect.h,
+                  resized_y, resized_width,
+                  resized_u, resized_width / 2,
+                  resized_v, resized_width / 2,
+                  resized_width, resized_height,
+                  mode);
+
 
   int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
   float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);

selfdrive/modeld/runners/onnx_runner.py

@@ -59,7 +59,10 @@ if __name__ == "__main__":
     options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
     provider = 'CPUExecutionProvider'
 
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  run_loop(ort_session)
+  try:
+    print("Onnx selected provider: ", [provider], file=sys.stderr)
+    ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
+    print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+    run_loop(ort_session)
+  except KeyboardInterrupt:
+    pass

selfdrive/monitoring/driver_monitor.py

@@ -3,7 +3,6 @@ from math import atan2
 from cereal import car
 from common.numpy_fast import interp
 from common.realtime import DT_DMON
-from selfdrive.hardware import TICI
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
 
@@ -16,7 +15,7 @@ EventName = car.CarEvent.EventName
 # ******************************************************************************************
 
 class DRIVER_MONITOR_SETTINGS():
-  def __init__(self, TICI=TICI, DT_DMON=DT_DMON):
+  def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
     self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
@@ -27,15 +26,15 @@ class DRIVER_MONITOR_SETTINGS():
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.5
-    self._PARTIAL_FACE_THRESHOLD = 0.8 if TICI else 0.45
-    self._EYE_THRESHOLD = 0.65 if TICI else 0.6
-    self._SG_THRESHOLD = 0.925 if TICI else 0.91
-    self._BLINK_THRESHOLD = 0.8 if TICI else 0.55
-    self._BLINK_THRESHOLD_SLACK = 0.9 if TICI else 0.7
+    self._PARTIAL_FACE_THRESHOLD = 0.8
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.925
+    self._BLINK_THRESHOLD = 0.8
+    self._BLINK_THRESHOLD_SLACK = 0.9
     self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
 
-    self._EE_THRESH11 = 0.75 if TICI else 0.4
-    self._EE_THRESH12 = 3.25 if TICI else 2.45
+    self._EE_THRESH11 = 0.75
+    self._EE_THRESH12 = 3.25
     self._EE_THRESH21 = 0.01
     self._EE_THRESH22 = 0.35
 

selfdrive/navd/helpers.py

@@ -2,18 +2,24 @@ from __future__ import annotations
 
 import json
 import math
-from typing import Any, Dict, List, Optional, Tuple
+from typing import Any, Dict, List, Optional, Tuple, Union, cast
 
+from common.conversions import Conversions
 from common.numpy_fast import clip
 from common.params import Params
 
 EARTH_MEAN_RADIUS = 6371007.2
+SPEED_CONVERSIONS = {
+    'km/h': Conversions.KPH_TO_MS,
+    'mph': Conversions.MPH_TO_MS,
+  }
 
 
 class Coordinate:
   def __init__(self, latitude: float, longitude: float) -> None:
     self.latitude = latitude
     self.longitude = longitude
+    self.annotations: Dict[str, float] = {}
 
   @classmethod
   def from_mapbox_tuple(cls, t: Tuple[float, float]) -> Coordinate:
@@ -116,6 +122,12 @@ def string_to_direction(direction: str) -> str:
   return 'none'
 
 
+def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float:
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return SPEED_CONVERSIONS[unit] * speed
+
+
 def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None:
   if not len(banners):
     return

selfdrive/navd/navd.py

@@ -10,11 +10,11 @@ from cereal import log
 from common.api import Api
 from common.params import Params
 from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
 from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
-                                    distance_along_geometry,
+                                    distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
                                     parse_banner_instructions)
+from selfdrive.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@@ -110,7 +110,7 @@ class RouteEngine:
 
     params = {
       'access_token': self.mapbox_token,
-      # 'annotations': 'maxspeed',
+      'annotations': 'maxspeed',
       'geometries': 'geojson',
       'overview': 'full',
       'steps': 'true',
@@ -131,9 +131,25 @@ class RouteEngine:
         self.route = r['routes'][0]['legs'][0]['steps']
         self.route_geometry = []
 
+        maxspeed_idx = 0
+        maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
+
         # Convert coordinates
         for step in self.route:
-          self.route_geometry.append([Coordinate.from_mapbox_tuple(c) for c in step['geometry']['coordinates']])
+          coords = []
+
+          for c in step['geometry']['coordinates']:
+            coord = Coordinate.from_mapbox_tuple(c)
+
+            # Last step does not have maxspeed
+            if (maxspeed_idx < len(maxspeeds)) and ('unknown' not in maxspeeds[maxspeed_idx]):
+              coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeeds[maxspeed_idx])
+
+            coords.append(coord)
+            maxspeed_idx += 1
+
+          self.route_geometry.append(coords)
+          maxspeed_idx -= 1  # Every segment ends with the same coordinate as the start of the next
 
         self.step_idx = 0
       else:
@@ -179,6 +195,23 @@ class RouteEngine:
     msg.navInstruction.timeRemaining = total_time
     msg.navInstruction.timeRemainingTypical = total_time_typical
 
+    # Speed limit
+    closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position))
+    if closest_idx > 0:
+      # If we are not past the closest point, show previous
+      if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
+        closest = geometry[closest_idx - 1]
+
+    if 'maxspeed' in closest.annotations:
+      msg.navInstruction.speedLimit = closest.annotations['maxspeed']
+
+    # Speed limit sign type
+    if 'speedLimitSign' in step:
+      if step['speedLimitSign'] == 'mutcd':
+        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
+      elif step['speedLimitSign'] == 'vienna':
+        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
+
     self.pm.send('navInstruction', msg)
 
     # Transition to next route segment

selfdrive/test/process_replay/helpers.py

@@ -23,4 +23,4 @@ class OpenpilotPrefix(object):
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
     del os.environ['OPENPILOT_PREFIX']
-    return True
+    return False

selfdrive/test/process_replay/model_replay.py

@@ -10,9 +10,8 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
-from common.transformations.camera import get_view_frame_from_road_frame, eon_f_frame_size, tici_f_frame_size, \
-                                          eon_d_frame_size, tici_d_frame_size
-from selfdrive.hardware import PC, TICI
+from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
+from selfdrive.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
@@ -23,14 +22,14 @@ from tools.lib.logreader import LogReader
 
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
+MAX_FRAMES = 20 if PC else 1300
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
 VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
                "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
-
-def get_log_fn(ref_commit, test_route, tici=True):
-  return f"{test_route}_{'model_tici' if tici else 'model'}_{ref_commit}.bz2"
+def get_log_fn(ref_commit, test_route):
+  return f"{test_route}_model_tici_{ref_commit}.bz2"
 
 
 def replace_calib(msg, calib):
@@ -41,12 +40,15 @@ def replace_calib(msg, calib):
 
 
 def model_replay(lr, frs):
-  spinner = Spinner()
-  spinner.update("starting model replay")
+  if not PC:
+    spinner = Spinner()
+    spinner.update("starting model replay")
+  else:
+    spinner = None
 
   vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
   vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
   vipc_server.start_listener()
 
@@ -76,7 +78,7 @@ def model_replay(lr, frs):
 
     for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
       # need a pair of road/wide msgs
-      if TICI and None in (cam_msgs[0], cam_msgs[1]):
+      if None in (cam_msgs[0], cam_msgs[1]):
         break
 
       for msg in cam_msgs:
@@ -107,7 +109,7 @@ def model_replay(lr, frs):
 
           recv = None
           if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
-            if not TICI or min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
+            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
               recv = "modelV2"
           elif msg.which() == 'driverCameraState':
             recv = "driverState"
@@ -118,14 +120,19 @@ def model_replay(lr, frs):
               recv_cnt[recv] += 1
               log_msgs.append(messaging.recv_one(sm.sock[recv]))
 
-          spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
-                         frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
+          if spinner:
+            spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
+                           frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
+
 
-      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()):
+      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
         break
+      else:
+        print(f'Received {frame_idxs["roadCameraState"]} frames')
 
   finally:
-    spinner.close()
+    if spinner:
+      spinner.close()
     managed_processes['modeld'].stop()
     managed_processes['dmonitoringmodeld'].stop()
 
@@ -144,9 +151,8 @@ if __name__ == "__main__":
   frs = {
     'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")),
     'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
   }
-  if TICI:
-    frs['wideRoadCameraState'] = FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
 
   # run replay
   log_msgs = model_replay(lr, frs)
@@ -156,9 +162,9 @@ if __name__ == "__main__":
   if not update:
     with open(ref_commit_fn) as f:
       ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit, TEST_ROUTE, tici=TICI)
+    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
     try:
-      cmp_log = LogReader(BASE_URL + log_fn)
+      cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES]
 
       ignore = [
         'logMonoTime',
@@ -167,7 +173,8 @@ if __name__ == "__main__":
         'driverState.modelExecutionTime',
         'driverState.dspExecutionTime'
       ]
-      tolerance = None if not PC else 1e-3
+      # TODO this tolerence is absurdly large
+      tolerance = 5e-1 if PC else None
       results: Any = {TEST_ROUTE: {}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
       diff1, diff2, failed = format_diff(results, ref_commit)
@@ -182,13 +189,13 @@ if __name__ == "__main__":
       failed = True
 
   # upload new refs
-  if update or failed:
+  if (update or failed) and not PC:
     from selfdrive.test.openpilotci import upload_file
 
     print("Uploading new refs")
 
     new_commit = get_commit()
-    log_fn = get_log_fn(new_commit, TEST_ROUTE, tici=TICI)
+    log_fn = get_log_fn(new_commit, TEST_ROUTE)
     save_log(log_fn, log_msgs)
     try:
       upload_file(log_fn, os.path.basename(log_fn))

selfdrive/test/process_replay/process_replay.py

@@ -242,14 +242,17 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
-      "modelV2": [], "driverCameraState": [], "roadCameraState": [], "managerState": [], "testJoystick": [],
+      "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], "testJoystick": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     fake_pubsubmaster=True,
-    submaster_config={'ignore_avg_freq': ['radarState', 'longitudinalPlan']}
+    submaster_config={
+      'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'],  # dcam is expected at 20 Hz
+      'ignore_alive': ['wideRoadCameraState'],  # TODO: Add to regen
+    }
   ),
   ProcessConfig(
     proc_name="radard",

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0956446adfa91506f0a3d88f893e041bfb2890c1
+0e18bb3317437f2cad6d0a5782a9222eda655d58

selfdrive/test/process_replay/regen.py

@@ -3,8 +3,8 @@ import bz2
 import os
 import time
 import multiprocessing
-from tqdm import tqdm
 import argparse
+from tqdm import tqdm
 # run DM procs
 os.environ["USE_WEBCAM"] = "1"
 
@@ -24,7 +24,6 @@ from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
 
-
 def replay_panda_states(s, msgs):
   pm = messaging.PubMaster([s, 'peripheralState'])
   rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
@@ -118,7 +117,7 @@ def replay_service(s, msgs):
       rk.keep_time()
 
 
-def replay_cameras(lr, frs):
+def replay_cameras(lr, frs, disable_tqdm=False):
   eon_cameras = [
     ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
     ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
@@ -163,7 +162,7 @@ def replay_cameras(lr, frs):
     if fr is not None:
       print(f"Decompressing frames {s}")
       frames = []
-      for i in tqdm(range(fr.frame_count)):
+      for i in tqdm(range(fr.frame_count), disable=disable_tqdm):
         img = fr.get(i, pix_fmt='nv12')[0]
         frames.append(img.flatten().tobytes())
 
@@ -177,7 +176,7 @@ def replay_cameras(lr, frs):
   return vs, p
 
 
-def regen_segment(lr, frs=None, outdir=FAKEDATA):
+def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   lr = list(lr)
   if frs is None:
     frs = dict()
@@ -207,7 +206,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
     elif msg.which() == 'liveCalibration':
       params.put("CalibrationParams", msg.as_builder().to_bytes())
 
-  vs, cam_procs = replay_cameras(lr, frs)
+  vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
 
   fake_daemons = {
     'sensord': [
@@ -219,7 +218,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
       multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
     ],
     'managerState': [
-     multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
+      multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
     ],
     'thermald': [
       multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
@@ -236,13 +235,13 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
     time.sleep(5)
 
     # start procs up
-    ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader']
+    ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd']
     ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
     for procs in fake_daemons.values():
       for p in procs:
         p.start()
 
-    for _ in tqdm(range(60)):
+    for _ in tqdm(range(60), disable=disable_tqdm):
       # ensure all procs are running
       for d, procs in fake_daemons.items():
         for p in procs:
@@ -268,7 +267,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
   return seg_path
 
 
-def regen_and_save(route, sidx, upload=False, use_route_meta=False):
+def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
   if use_route_meta:
     r = Route(args.route)
     lr = LogReader(r.log_paths()[args.seg])
@@ -276,7 +275,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False):
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
     fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
-  rpath = regen_segment(lr, {'roadCameraState': fr})
+  rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm)
 
   # compress raw rlog before uploading
   with open(os.path.join(rpath, "rlog"), "rb") as f:
@@ -294,7 +293,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False):
   print("\n\n", "*"*30, "\n\n")
   print("New route:", relr, "\n")
   if upload:
-    upload_route(relr)
+    upload_route(relr, exclude_patterns=['*.hevc', ])
   return relr
 
 

selfdrive/test/process_replay/regen_all.py

@@ -1,22 +1,36 @@
 #!/usr/bin/env python3
+import argparse
+import concurrent.futures
+import os
+import random
+from tqdm import tqdm
+
+from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.test.process_replay.regen import regen_and_save
-from selfdrive.test.process_replay.test_processes import original_segments as segments
+from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments
 
-if __name__ == "__main__":
-  new_segments = []
-  for segment in segments:
+def regen_job(segment):
+  with OpenpilotPrefix():
     route = segment[1].rsplit('--', 1)[0]
     sidx = int(segment[1].rsplit('--', 1)[1])
-    print("Regen", route, sidx)
-    relr = regen_and_save(route, sidx, upload=True, use_route_meta=False)
+    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11))
+    try:
+      relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True)
+      relr = '|'.join(relr.split('/')[-2:])
+      return f'  ("{segment[0]}", "{relr}"), '
+    except Exception as e:
+      return f"  {segment} failed: {str(e)}"
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
+  parser.add_argument("-j", "--jobs", type=int, default=1)
+  args = parser.parse_args()
 
-    print("\n\n", "*"*30, "\n\n")
-    print("New route:", relr, "\n")
-    relr = relr.replace('/', '|')
-    new_segments.append(f'  ("{segment[0]}", "{relr}"), ')
-  print()
-  print()
-  print()
-  print('COPY THIS INTO test_processes.py')
-  for seg in new_segments:
-    print(seg)
+  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
+    p = list(pool.map(regen_job, segments))
+    msg = "Copy these new segments into test_processes.py:"
+    for seg in tqdm(p, desc="Generating segments"):
+      msg += "\n" + str(seg)
+    print()
+    print()
+    print(msg)

selfdrive/test/process_replay/test_processes.py

@@ -59,9 +59,9 @@ REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  lr = LogReader.from_bytes(lr_dat)
   res = None
   if not args.upload_only:
+    lr = LogReader.from_bytes(lr_dat)
     res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs)
     # save logs so we can upload when updating refs
     save_log(cur_log_fn, log_msgs)
@@ -160,7 +160,7 @@ if __name__ == "__main__":
   tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
   tested_cars = {c.upper() for c in tested_cars}
 
-  full_test = all(len(x) == 0 for x in (args.whitelist_procs, args.whitelist_cars, args.blacklist_procs, args.blacklist_cars, args.ignore_fields, args.ignore_msgs))
+  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)
 
@@ -181,8 +181,7 @@ if __name__ == "__main__":
 
   # check to make sure all car brands are tested
   if full_test:
-    tested_cars = {c.lower() for c, _ in segments}
-    untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
+    untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
     assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:

selfdrive/test/update_ci_routes.py

@@ -18,8 +18,12 @@ DEST_KEY = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
 SOURCE_KEYS = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
 SERVICE = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=DEST_KEY)
 
-def upload_route(path):
+def upload_route(path, exclude_patterns=None):
+  if exclude_patterns is None:
+    exclude_patterns = ['*/dcamera.hevc']
+
   r, n = path.rsplit("--", 1)
+  r = '/'.join(r.split('/')[-2:])  # strip out anything extra in the path
   destpath = f"{r}/{n}"
   cmd = [
     "azcopy",
@@ -28,9 +32,7 @@ def upload_route(path):
     f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}",
     "--recursive=false",
     "--overwrite=false",
-    "--exclude-pattern=*/dcamera.hevc",
-    "--exclude-pattern=*.mkv",
-  ]
+  ] + [f"--exclude-pattern={p}" for p in exclude_patterns]
   subprocess.check_call(cmd)
 
 def sync_to_ci_public(route):

selfdrive/thermald/thermald.py

@@ -17,7 +17,7 @@ from common.filter_simple import FirstOrderFilter
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, TICI
+from selfdrive.hardware import HARDWARE, TICI, AGNOS
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
 from selfdrive.swaglog import cloudlog
@@ -31,7 +31,7 @@ NetworkStrength = log.DeviceState.NetworkStrength
 CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
-PANDA_STATES_TIMEOUT = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
+PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps'])
@@ -113,7 +113,7 @@ def hw_state_thread(end_event, hw_queue):
           modem_temps = prev_hw_state.modem_temps
 
         # Log modem version once
-        if TICI and ((modem_version is None) or (modem_nv is None)):
+        if AGNOS and ((modem_version is None) or (modem_nv is None)):
           modem_version = HARDWARE.get_modem_version()  # pylint: disable=assignment-from-none
           modem_nv = HARDWARE.get_modem_nv()  # pylint: disable=assignment-from-none
 
@@ -134,7 +134,7 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if TICI and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
+        if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
           registered_count += 1
         else:
           registered_count = 0
@@ -220,6 +220,11 @@ def thermald_thread(end_event, hw_queue):
         if TICI:
           fan_controller = TiciFanController()
 
+    elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT:
+      if onroad_conditions["ignition"]:
+        onroad_conditions["ignition"] = False
+        cloudlog.error("panda timed out onroad")
+
     try:
       last_hw_state = hw_queue.get_nowait()
     except queue.Empty:

selfdrive/timezoned.py

@@ -9,7 +9,7 @@ import requests
 from timezonefinder import TimezoneFinder
 
 from common.params import Params
-from selfdrive.hardware import TICI
+from selfdrive.hardware import AGNOS
 from selfdrive.swaglog import cloudlog
 
 
@@ -20,7 +20,7 @@ def set_timezone(valid_timezones, timezone):
 
   cloudlog.debug(f"Setting timezone to {timezone}")
   try:
-    if TICI:
+    if AGNOS:
       tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
       subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
                               mv /data/etc/tmptime /data/etc/localtime"', shell=True)

selfdrive/tombstoned.py

@@ -10,15 +10,12 @@ import glob
 from typing import NoReturn
 
 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 import selfdrive.sentry as sentry
 from selfdrive.swaglog import cloudlog
 from selfdrive.version import get_commit
 
-MAX_SIZE = 100000 * 10  # mal size is 40-100k, allow up to 1M
-if TICI:
-  MAX_SIZE = MAX_SIZE * 100  # Allow larger size for tici since files contain coredump
+MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
 
 TOMBSTONE_DIR = "/data/tombstones/"

selfdrive/ui/qt/offroad/driverview.cc

@@ -63,12 +63,10 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
 
   // blackout
   const QColor bg(0, 0, 0, 140);
-  const QRect& blackout_rect = Hardware::TICI() ? rect() : rect2;
+  const QRect& blackout_rect = rect();
   p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
   p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
-  if (Hardware::TICI()) {
-    p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
-  }
+  p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
 
   // face bounding box
   cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();

selfdrive/ui/qt/offroad/settings.cc

@@ -57,12 +57,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
       "../assets/offroad/icon_monitoring.png",
     },
-    {
-      "EndToEndToggle",
-      "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
-      "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
-      "../assets/offroad/icon_road.png",
-    },
     {
       "DisengageOnAccelerator",
       "Disengage On Accelerator Pedal",
@@ -95,9 +89,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
     bool locked = params.getBool((param + "Lock").toStdString());
     toggle->setEnabled(!locked);
-    if (!locked) {
-      connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled);
-    }
     addItem(toggle);
   }
 }
@@ -162,7 +153,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   power_layout->addWidget(poweroff_btn);
   QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
 
-  if (Hardware::TICI()) {
+  if (!Hardware::PC()) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
 

selfdrive/ui/qt/onroad.cc

@@ -311,24 +311,19 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
-  if (scene.end_to_end) {
-    const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
-    float orientation_future = 0;
-    if (orientation.getZ().size() > 16) {
-      orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
-    }
-    // straight: 112, in turns: 70
-    float curve_hue = fmax(70, 112 - (orientation_future * 420));
-    // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    curve_hue = int(curve_hue * 100 + 0.5) / 100;
-
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
-  } else {
-    bg.setColorAt(0, whiteColor());
-    bg.setColorAt(1, whiteColor(0));
+  const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
+  float orientation_future = 0;
+  if (orientation.getZ().size() > 16) {
+    orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
   }
+  // straight: 112, in turns: 70
+  float curve_hue = fmax(70, 112 - (orientation_future * 420));
+  // FIXME: painter.drawPolygon can be slow if hue is not rounded
+  curve_hue = int(curve_hue * 100 + 0.5) / 100;
+
+  bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
+  bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
+  bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);