Merge remote-tracking branch 'origin/master' into equinox

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added to README
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -6,6 +6,8 @@ labels: 'fingerprint'
 assignees: ''
 ---
 
-Discord username: []
+**Car**
+Which car (make, model, year) this fingerprint is for
 
-Route: []
+**Route**
+A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -28,5 +28,4 @@ Longitudinal:
 Lateral:
 * Straight driving at ~25, ~45 and ~65mph
 * Turns driving at ~25, ~45 and ~65mph
-
 -->

.github/build.py

@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()

.github/pull_request_template.md

@@ -10,39 +10,59 @@ A route with the fingerprint
 
 -->
 
-<!--- ***** Template: Car bug fix *****
+<!--- ***** Template: Car Bugfix *****
 
-**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+**Description**
 
-**Verification** [](Explain how you tested this bug fix.)
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
 
 **Route**
+
 Route: [a route with the bug fix]
 
+
 -->
 
-<!--- ***** Template: Bug fix *****
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
 
-**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+Explain how you tested this bug fix. 
 
-**Verification** [](Explain how you tested this bug fix.)
 
 -->
 
-<!--- ***** Template: Car port *****
+<!--- ***** Template: Car Port *****
 
 **Checklist**
+
 - [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
 
 -->
 
 <!--- ***** Template: Refactor *****
 
-**Description** [](A description of the refactor, including the goals it accomplishes.)
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
 
-**Verification** [](Explain how you tested the refactor for regressions.)
 
 -->
+

.github/workflows/auto-cache/action.yaml

@@ -0,0 +1,49 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'false'
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      if: ${{ contains(runner.name, 'nsc') }} 
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,6 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
+    types: [opened, reopened, synchronize, edited, edited]
 
 jobs:
   labeler:
@@ -32,3 +33,168 @@ jobs:
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
+
+  check-pr-template:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write
+      pull-requests: write
+      actions: read
+    if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+    steps:
+      - uses: actions/github-script@v7
+        with:
+          script: |
+            // Comment to add to the PR if no template has been used
+            const NO_TEMPLATE_MESSAGE =
+              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
+            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
+            // body data for future requests
+            const body_data = {
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+            };
+
+            // Utility function to extract all headings
+            const extractHeadings = (markdown) => {
+              const headingRegex = /^(#{1,6})\s+(.+)$/gm;
+              const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
+              const headings = [];
+              let headingMatch;
+              while ((headingMatch = headingRegex.exec(markdown))) {
+                headings.push(headingMatch[2].trim());
+              }
+              let boldMatch;
+              while ((boldMatch = boldTextRegex.exec(markdown))) {
+                headings.push(boldMatch[1].trim());
+              }
+              return headings;
+            };
+
+            // Utility function to extract all check box descriptions
+            const extractCheckBoxTexts = (markdown) => {
+              const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
+              const checkboxes = [];
+              let match;
+              while ((match = checkboxRegex.exec(markdown))) {
+                checkboxes.push(match[2].trim());
+              }
+              return checkboxes;
+            };
+
+            // Utility function to check if a list is a subset of another list
+            isSubset = (subset, superset) => {
+              return subset.every((item) => superset.includes(item));
+            };
+
+            // Get filenames of all currently checked-in PR templates
+            const template_contents = await github.rest.repos.getContent({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              path: ".github/PULL_REQUEST_TEMPLATE",
+            });
+            var template_filenames = [];
+            for (const content of template_contents.data) {
+              template_filenames.push(content.path);
+            }
+            console.debug("Received template filenames: " + template_filenames);
+            // Retrieve templates
+            var templates = [];
+            for (const template_filename of template_filenames) {
+              const template_response = await github.rest.repos.getContent({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                path: template_filename,
+              });
+              // Convert Base64 content back
+              const decoded_template = atob(template_response.data.content);
+              const headings = extractHeadings(decoded_template);
+              const checkboxes = extractCheckBoxTexts(decoded_template);
+              if (!headings.length && !checkboxes.length) {
+                console.warn(
+                  "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
+                    decoded_template
+                );
+              } else {
+                templates.push({ headings: headings, checkboxes: checkboxes });
+              }
+            }
+            // Retrieve the PR Body
+            const pull_request = await github.rest.issues.get({
+              ...body_data,
+            });
+            const pull_request_text = pull_request.data.body;
+            console.debug("Received Pull Request body: \n" + pull_request_text);
+
+            /* Check if the PR Body matches one of the templates
+            A template is defined by all headings and checkboxes it contains
+            We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
+            */
+            const pr_headings = extractHeadings(pull_request_text);
+            const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
+            console.debug("Found Headings in PR body:\n" + pr_headings);
+            console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
+            var template_found = false;
+            // Iterate over each template to check if it applies
+            for (const template of templates) {
+              console.log(
+                "Checking for headings: [" +
+                  template.headings +
+                  "] and checkboxes: [" +
+                  template.checkboxes + "]"
+              );
+              if (
+                isSubset(template.checkboxes, pr_checkboxes) &&
+                isSubset(template.headings, pr_headings)
+              ) {
+                console.debug("Found matching template!");
+                template_found = true;
+              }
+            }
+
+            // List comments from previous runs
+            var existing_comments = [];
+            const comments = await github.rest.issues.listComments({
+              ...body_data,
+            });
+            for (const comment of comments.data) {
+              if (comment.body === NO_TEMPLATE_MESSAGE) {
+                existing_comments.push(comment);
+              }
+            }
+
+            // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
+            if (!template_found) {
+              var comment_already_sent = false;
+
+              // Add an 'in-bot-review' label since this PR doesn't have the template
+              github.rest.issues.addLabels({
+                ...body_data,
+                labels: ["in-bot-review"],
+              });
+
+              if (existing_comments.length < 1) {
+                github.rest.issues.createComment({
+                  ...body_data,
+                  body: NO_TEMPLATE_MESSAGE,
+                });
+              }
+            } else {
+              // If template has been found, delete any old comment about missing template
+              for (const existing_comment of existing_comments) {
+                github.rest.issues.deleteComment({
+                  ...body_data,
+                  comment_id: existing_comment.id,
+                });
+              }
+              // Remove the 'in-bot-review' label after the review is done and the PR has passed
+              github.rest.issues.removeLabel({
+                ...body_data,
+                name: "in-bot-review",
+              }).catch((error) => {
+                console.log("Label 'in-bot-review' not found, ignoring");
+              });
+            }
+

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

@@ -1,11 +1,5 @@
 name: 'compile openpilot'
 
-inputs:
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: false
-    default: 'scons'
-
 runs:
   using: "composite"
   steps:
@@ -24,4 +18,4 @@ runs:
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
-        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/repo-maintenance.yaml

@@ -25,11 +25,12 @@ jobs:
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: bump submodules
-        title: 'Bump submodules'
+        title: '[bot] Bump submodules'
         branch: auto-bump-submodules
         base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> bump_submodules'
+        labels: bot
   package_updates:
     name: package_updates
     runs-on: ubuntu-20.04
@@ -50,8 +51,9 @@ jobs:
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages and pre-commit hooks
-        title: 'Update Python packages and pre-commit hooks'
+        title: '[bot] Update Python packages and pre-commit hooks'
         branch: auto-package-updates
         base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
+        labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -20,7 +20,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   BUILD_CL: selfdrive/test/docker_build.sh cl
 
@@ -42,6 +42,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -66,7 +67,7 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
@@ -75,7 +76,7 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') || 
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -83,18 +84,15 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-        cache_key_prefix: scons_${{ matrix.arch }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-      with:
-        cache_key_prefix: scons_${{ matrix.arch }}
 
   docker_push:
     name: docker push
     strategy:
       matrix:
         arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
@@ -133,15 +131,18 @@ jobs:
 
   static_analysis:
     name: static analysis
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   valgrind:
     name: valgrind
@@ -163,12 +164,16 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
@@ -177,11 +182,10 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        $PYTEST --timeout 30 -m 'not slow' && \
+                        $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        ./selfdrive/ui/tests/test_translations.py && \
-                        ./system/camerad/test/ae_gray_test"
+                        ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
       with:
@@ -193,7 +197,7 @@ jobs:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -303,7 +307,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -315,7 +321,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: ./.github/workflows/auto-cache
       with:
         path: .ci_cache/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
@@ -389,3 +395,25 @@ jobs:
               repo: context.repo.repo,
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
+
+  create_ui_report:
+    name: Create UI Report
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            python selfdrive/ui/tests/test_ui/run.py"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v2
+        with:
+          name: report
+          path: selfdrive/ui/tests/test_ui/report

.github/workflows/setup-pre-commit/action.yaml

@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with: 
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

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

@@ -5,10 +5,6 @@ inputs:
     description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: false
     default: ''
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: false
-    default: 'scons_x86_64'
   sleep_time:
     description: 'Time to sleep between retries'
     required: false
@@ -22,7 +18,6 @@ runs:
       continue-on-error: true
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -33,7 +28,6 @@ runs:
       continue-on-error: true
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -43,5 +37,4 @@ runs:
       uses: ./.github/workflows/setup
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true

.github/workflows/setup/action.yaml

@@ -5,10 +5,6 @@ inputs:
     description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: true
     default: ''
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: true
-    default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -47,19 +43,14 @@ runs:
       run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
       run: echo "$CACHE_COMMIT_DATE"
-    - id: restore-scons-cache
-      uses: actions/cache/restore@v3
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
       with:
         path: .ci_cache/scons_cache
-        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
-          ${{ inputs.cache_key_prefix }}-
-    # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      if: steps.restore-scons-cache.outputs.cache-hit != 'true'
-      run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
     # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
     - id: normalize-file-permissions
       shell: bash
@@ -67,12 +58,6 @@ runs:
       run: |
         find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    - id: setup-buildx-action
-      if: contains(runner.name, 'buildjet')
-      name: Set up Docker Buildx on buildjet to ensure a consistent cache
-      uses: docker/setup-buildx-action@v2
-      with:
-        driver: docker-container
     # build our docker image
     - shell: bash
       run: eval ${{ env.BUILD }}

.github/workflows/tools_tests.yaml

@@ -81,11 +81,29 @@ jobs:
     - name: Run dev container
       run: |
         mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
         devcontainer up --workspace-folder .
     - name: Test environment
       run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
         devcontainer exec --workspace-folder . pip install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt
+
+  notebooks:
+    name: notebooks
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test notebooks
+      timeout-minutes: 2
+      run: |
+        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"

.pre-commit-config.yaml

@@ -44,7 +44,7 @@ repos:
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.11
+    rev: v0.1.14
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -81,6 +81,7 @@ repos:
         entry: selfdrive/ui/tests/test_translations.py
         language: script
         pass_filenames: false
+        files: 'selfdrive/ui/translations/*'
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.7.0'
     hooks:
@@ -92,10 +93,3 @@ repos:
     rev: 0.27.3
     hooks:
     -   id: check-github-workflows
-# -   repo: local
-#     hooks:
-#     -   id: format-fingerprints
-#         name: format-fingerprints
-#         entry: selfdrive/debug/format_fingerprints.py
-#         language: system
-#         types: [python]

Dockerfile.openpilot_base

@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen

Jenkinsfile

@@ -35,7 +35,9 @@ source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
 
+  rm -rf /tmp/tmp*
   rm -rf ~/.commacache
+  rm -rf /dev/shm/*
 
   if ! systemctl is-active --quiet systemd-resolved; then
     echo "restarting resolved"
@@ -167,7 +169,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+                         'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master') {
@@ -179,7 +181,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
       ])
     }
 

RELEASES.md

@@ -1,10 +1,14 @@
-Version 0.9.6 (20XX-XX-XX)
+Version 0.9.6 (2024-02-XX)
 ========================
 * New driving model
   * Vision model trained on more data
   * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
 * AGNOS 9
 * comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Toyota RAV4 2023-24 support

SConstruct

@@ -297,8 +297,11 @@ else:
   qt_env['QTDIR'] = qt_install_prefix
   qt_dirs = [
     f"{qt_install_headers}",
-    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
   ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
   qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]

body

@@ -1 +1 @@
-Subproject commit 3aa61382b7ea9328cab7f1a2fe1ec701dffd018f
+Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72

cereal

@@ -1 +1 @@
-Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557
+Subproject commit a6ade85c9dd6652fde547b9e089a297f67606dcf

common/SConscript

@@ -23,7 +23,7 @@ Export('_common', '_gpucommon')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython bindings

common/logging_extra.py

@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if isinstance(record, str):
       v = json.loads(record)
     else:

common/params.cc

@@ -94,6 +94,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
+    {"AthenadRecentlyViewedRoutes", PERSISTENT},
+    {"BootCount", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
@@ -144,16 +146,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
     {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
@@ -164,7 +163,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavPastDestinations", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavSettingTime24h", PERSISTENT},
-    {"NavdRender", PERSISTENT},
+    {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -184,15 +183,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
-    {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
@@ -207,6 +203,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
     {"WheeledBody", PERSISTENT},

common/prefix.py

@@ -6,12 +6,14 @@ from typing import Optional
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
+    self.shared_download_cache = shared_download_cache
 
   def __enter__(self):
     self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
@@ -22,6 +24,9 @@ class OpenpilotPrefix:
       pass
     os.makedirs(Paths.log_root(), exist_ok=True)
 
+    if self.shared_download_cache:
+      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
@@ -42,5 +47,6 @@ class OpenpilotPrefix:
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
     shutil.rmtree(Paths.log_root(), ignore_errors=True)
-    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    if not os.environ.get("COMMA_CACHE", False):
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/swaglog.cc

@@ -10,6 +10,7 @@
 #include <string>
 
 #include <zmq.h>
+#include <stdarg.h>
 #include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"

common/tests/test_ratekeeper.cc

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

common/time.py

@@ -1,6 +1,6 @@
 import datetime
 
-MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
 
 def system_time_valid():
   return datetime.datetime.now() > MIN_DATE

conftest.py

@@ -3,6 +3,7 @@ import pytest
 import random
 
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.manager import manager
 from openpilot.system.hardware import TICI
 
 
@@ -24,13 +25,13 @@ def pytest_runtest_call(item):
 
 
 @pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture():
+def openpilot_function_fixture(request):
   starting_env = dict(os.environ)
 
   random.seed(0)
 
   # setup a clean environment for each test
-  with OpenpilotPrefix():
+  with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
     prefix = os.environ["OPENPILOT_PREFIX"]
 
     yield
@@ -41,6 +42,8 @@ def openpilot_function_fixture():
   os.environ.clear()
   os.environ.update(starting_env)
 
+  # cleanup any started processes
+  manager.manager_cleanup()
 
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
@@ -74,3 +77,6 @@ def pytest_configure(config):
 
   config_line = "nocapture: don't capture test output"
   config.addinivalue_line("markers", config_line)
+
+  config_line = "shared_download_cache: share download cache between tests"
+  config.addinivalue_line("markers", config_line)

docs/BOUNTIES.md

@@ -8,7 +8,7 @@ Get paid to improve openpilot!
 * bounty eligibility is solely at our discretion
 * once you open a PR, the bounty is locked to you until you stop working on it
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
-* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit
+* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
 
 New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
 
@@ -59,4 +59,4 @@ We're contributing $5k to the [community-organized bounty](https://github.com/co
 
 #### Chevy Bolt with SuperCruise - $2500
 
-The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc.
+The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 274 Supported Cars
+# 275 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -28,8 +28,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
@@ -60,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -155,8 +156,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@@ -181,7 +182,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
 |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||

launch_chffrplus.sh

@@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
-  # wait longer for weston to come up
-  if [ -f "$BASEDIR/prebuilt" ]; then
-    sleep 5
-  fi
-
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
@@ -35,9 +30,6 @@ function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
 
-  # Pull time from panda
-  $DIR/selfdrive/boardd/set_time.py
-
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -77,14 +69,19 @@ function launch {
   export PYTHONPATH="$PWD"
 
   # hardware specific init
-  agnos_init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
   cd selfdrive/manager
-  ./build.py && ./manager.py
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

launch_env.sh

@@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.1"
-fi
-
-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
+  export AGNOS_VERSION="9.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,5 +1,3 @@
 #!/usr/bin/bash
 
-export PASSIVE="0"
 exec ./launch_chffrplus.sh
-

opendbc

@@ -1 +1 @@
-Subproject commit 40d9c723d48496229fecc436046538a53af19c11
+Subproject commit 3cfd0bf4eb73953f3d179dddc1ba2c92e317188c

panda

@@ -1 +1 @@
-Subproject commit 2a0536c63148a02add52555386b5533f3555ef58
+Subproject commit ec17f75efca05c04313049e1d6dd376ef54d42ec

pyproject.toml

@@ -21,6 +21,7 @@ testpaths = [
   "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
+  "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
   "system/proclogd",
@@ -87,8 +88,8 @@ json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
 onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
+onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -98,7 +99,7 @@ pyserial = "*"
 pyzmq = "*"
 requests = "*"
 scons = "*"
-sentry-sdk = "==1.28.1"  # needs to be updated with AGNOS
+sentry-sdk = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
@@ -110,7 +111,6 @@ markdown-it-py = "*"
 timezonefinder = "*"
 setproctitle = "*"
 
-
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"
@@ -120,12 +120,13 @@ control = "*"
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
+flaky = "*"
 hypothesis = "~6.47"
 inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -135,8 +136,10 @@ parameterized = "^0.8"
 pprofile = "*"
 polyline = "*"
 pre-commit = "*"
-pyopencl = "*"
+pyautogui = "*"
+pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
 pygame = "*"
+pywinctl = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
@@ -144,7 +147,6 @@ pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
-pytest-timeouts = "*"
 pytest-randomly = "*"
 ruff = "*"
 sphinx = "*"

release/build_release.sh

@@ -102,11 +102,4 @@ if [ ! -z "$RELEASE_BRANCH" ]; then
   git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
 fi
 
-if [ ! -z "$DASHCAM_BRANCH" ]; then
-  # Create dashcam
-  git rm selfdrive/car/*/carcontroller.py
-  git commit -m "create dashcam release from release"
-  git push -f origin $RELEASE_BRANCH:$DASHCAM_BRANCH
-fi
-
 echo "[-] done T=$SECONDS"

release/files_common

@@ -142,7 +142,6 @@ selfdrive/controls/lib/latcontrol_angle.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py
-selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
@@ -154,6 +153,7 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
 system/__init__.py
+system/*.py
 
 system/hardware/__init__.py
 system/hardware/base.h

release/files_tici

@@ -4,8 +4,6 @@ third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 third_party/acados/larch64/**
 
-system/timezoned.py
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc

release/verify.sh

@@ -6,7 +6,7 @@ RED="\033[0;31m"
 GREEN="\033[0;32m"
 CLEAR="\033[0m"
 
-BRANCHES="devel dashcam3 release3"
+BRANCHES="devel release3"
 for b in $BRANCHES; do
   if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
     printf "%-10s $GREEN ok $CLEAR\n" "$b"

scripts/build_small.sh

@@ -26,7 +26,7 @@ cd $OUT
 git tag -l | xargs git tag -d
 
 # remove non-master branches
-BRANCHES="release2 dashcam dashcam3 release3 devel master-ci nightly"
+BRANCHES="release2 release3 devel master-ci nightly"
 for branch in $BRANCHES; do
   git branch -D $branch
   git branch -D ${branch}-staging || true

selfdrive/athena/athenad.py

@@ -79,7 +79,7 @@ class UploadItem:
   url: str
   headers: Dict[str, str]
   created_at: int
-  id: Optional[str] # noqa: A003 (to match the response from the remote server)
+  id: Optional[str]
   retry_count: int = 0
   current: bool = False
   progress: float = 0
@@ -432,6 +432,21 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]
   cancelled_uploads.update(cancelled_ids)
   return {"success": 1}
 
+@dispatcher.add_method
+def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
+  # maintain a list of the last 10 routes viewed in connect
+  params = Params()
+
+  r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+  routes = [] if r is None else r.split(",")
+  routes.append(route)
+
+  # remove duplicates
+  routes = list(dict.fromkeys(routes))
+
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  return {"success": 1}
+
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
   try:

selfdrive/athena/registration.py

@@ -25,7 +25,6 @@ def is_registered_device() -> bool:
 
 def register(show_spinner=False) -> Optional[str]:
   params = Params()
-  params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')

selfdrive/athena/tests/helpers.py

@@ -1,12 +1,7 @@
 import http.server
-import random
-import requests
+import threading
 import socket
-import time
 from functools import wraps
-from multiprocessing import Process
-
-from openpilot.common.timeout import Timeout
 
 
 class MockResponse:
@@ -49,35 +44,6 @@ class MockApi():
     return "fake-token"
 
 
-class MockParams():
-  default_params = {
-    "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
-    "GithubUsername": b"commaci",
-    "GsmMetered": True,
-    "AthenadUploadQueue": '[]',
-  }
-  params = default_params.copy()
-
-  @staticmethod
-  def restore_defaults():
-    MockParams.params = MockParams.default_params.copy()
-
-  def get_bool(self, k):
-    return bool(MockParams.params.get(k))
-
-  def get(self, k, encoding=None):
-    ret = MockParams.params.get(k)
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-    return ret
-
-  def put(self, k, v):
-    if k not in MockParams.params:
-      raise KeyError(f"key: {k} not in MockParams")
-    MockParams.params[k] = v
-
-
 class MockWebsocket():
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
@@ -101,30 +67,23 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
     self.end_headers()
 
 
-def with_http_server(func):
+def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    with Timeout(2, 'HTTP Server did not start'):
-      p = None
-      host = '127.0.0.1'
-      while p is None or p.exitcode is not None:
-        port = random.randrange(40000, 50000)
-        p = Process(target=http.server.test,
-                    kwargs={'port': port, 'HandlerClass': HTTPRequestHandler, 'bind': host})
-        p.start()
-        time.sleep(0.1)
-
-    with Timeout(2, 'HTTP Server seeding failed'):
-      while True:
-        try:
-          requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
-          break
-        except requests.exceptions.ConnectionError:
-          time.sleep(0.1)
+    host = '127.0.0.1'
+    server = http.server.HTTPServer((host, 0), handler)
+    port = server.server_port
+    t = threading.Thread(target=server.serve_forever)
+    t.start()
+
+    if setup is not None:
+      setup(host, port)
 
     try:
       return func(*args, f'http://{host}:{port}', **kwargs)
     finally:
-      p.terminate()
+      server.shutdown()
+      server.server_close()
+      t.join()
 
   return inner

selfdrive/athena/tests/test_athenad.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from functools import partial
 import json
 import multiprocessing
 import os
@@ -17,23 +18,50 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
+from cereal import messaging
+
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
-from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
-from cereal import messaging
+from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server
 from openpilot.system.hardware.hw import Paths
+from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler
+
+
+def seed_athena_server(host, port):
+  with Timeout(2, 'HTTP Server seeding failed'):
+    while True:
+      try:
+        requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
+        break
+      except requests.exceptions.ConnectionError:
+        time.sleep(0.1)
+
+
+with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server)
 
 
 class TestAthenadMethods(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
-    athenad.Params = MockParams
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setUp(self):
-    MockParams.restore_defaults()
+    self.default_params = {
+      "DongleId": "0000000000000000",
+      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+      "GithubUsername": b"commaci",
+      "AthenadUploadQueue": '[]',
+    }
+
+    self.params = Params()
+    for k, v in self.default_params.items():
+      self.params.put(k, v)
+    self.params.put_bool("GsmMetered", True)
+
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
@@ -138,7 +166,7 @@ class TestAthenadMethods(unittest.TestCase):
       self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
   @parameterized.expand([(True,), (False,)])
-  @with_http_server
+  @with_mock_athena
   def test_do_upload(self, compress, host):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
@@ -152,7 +180,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = athenad._do_upload(item)
     self.assertEqual(resp.status_code, 201)
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl(self, host):
     fn = self._create_file('qlog.bz2')
 
@@ -163,7 +191,7 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl_duplicate(self, host):
     self._create_file('qlog.bz2')
 
@@ -175,12 +203,12 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
     self.assertEqual(resp, {'enqueued': 0, 'items': []})
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl_does_not_exist(self, host):
     not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
     self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
 
-  @with_http_server
+  @with_mock_athena
   def test_upload_handler(self, host):
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
@@ -199,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase):
     finally:
       end_event.set()
 
-  @with_http_server
+  @with_mock_athena
   @mock.patch('requests.put')
   def test_upload_handler_retry(self, host, mock_put):
     for status, retry in ((500, True), (412, False)):
@@ -377,11 +405,11 @@ class TestAthenadMethods(unittest.TestCase):
 
   def test_getSshAuthorizedKeys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
-    self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
+    self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8'))
 
   def test_getGithubUsername(self):
     keys = dispatcher["getGithubUsername"]()
-    self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
+    self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8'))
 
   def test_getVersion(self):
     resp = dispatcher["getVersion"]()

selfdrive/car/car_helpers.py

@@ -127,9 +127,6 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    # Vin query only reliably works through OBDII
-    bus = 1
-
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
       with car.CarParams.from_bytes(cached_params) as cached_params:
@@ -139,20 +136,22 @@ def fingerprint(logcan, sendcan, num_pandas):
     if cached_params is not None and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
-      vin, vin_rx_addr = cached_params.carVin, 0
+      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
       car_fw = list(cached_params.carFw)
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
       set_obd_multiplexing(params, True)
-      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      # Vin query only reliably works through OBDII
+      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin, vin_rx_addr = VIN_UNKNOWN, 0
+    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
 
@@ -187,8 +186,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
-                 fw_query_time=fw_query_time, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
+                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
@@ -207,3 +206,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   CP.fuzzyFingerprint = not exact_match
 
   return CarInterface(CP, CarController, CarState), CP
+
+def write_car_param(fingerprint="mock"):
+  params = Params()
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  params.put("CarParams", CP.to_bytes())
+
+def get_demo_car_params():
+  fingerprint="mock"
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  return CP

selfdrive/car/chrysler/fingerprints.py

@@ -1,88 +1,357 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.chrysler.values import CAR
 
 Ecu = car.CarParams.Ecu
 
-# Unique CAN messages:
-# Only the hybrids have 270: 8
-# Only the gas have 55: 8, 416: 7
-# For 564, All 2017 have length 4, whereas 2018-19 have length 8.
-# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8.
-# For 560, All 2019 have length 8, whereas all 2017-18 have length 4.
-#
-# Jeep Grand Cherokee unique messages:
-# 2017 Trailhawk: 618: 8
-# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
-
-
-FINGERPRINTS = {
-  CAR.PACIFICA_2017_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
-  }],
-  CAR.PACIFICA_2018: [{
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  },
-  {
-    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  }],
-  CAR.PACIFICA_2020: [{
-    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.PACIFICA_2018_HYBRID: [{
-    68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
+FW_VERSIONS = {
+  CAR.PACIFICA_2017_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68238840AH',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
+      b'68288309AD',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
+      b'05190226AK',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
-  }],
-  CAR.PACIFICA_2019_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8
+  CAR.PACIFICA_2018: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68227902AF',
+      b'68227902AG',
+      b'68227902AH',
+      b'68360252AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68211617AF',
+      b'68211617AG',
+      b'68358974AC',
+      b'68405937AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68222747AG',
+      b'68330876AA',
+      b'68330876AB',
+      b'68352227AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'68226356AF',
+      b'68226356AH',
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288891AE',
+      b'68378884AA',
+      b'68525338AA',
+      b'68525338AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68267018AO ',
+      b'68267020AJ ',
+      b'68340762AD ',
+      b'68340764AD ',
+      b'68352652AE ',
+      b'68366851AH ',
+      b'68366853AE ',
+      b'68372861AF ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68277370AJ',
+      b'68277370AM',
+      b'68277372AD',
+      b'68277372AN',
+      b'68277374AA',
+      b'68277374AB',
+      b'68277374AD',
+      b'68277374AN',
+      b'68367471AC',
+      b'68380571AB',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
+  CAR.PACIFICA_2020: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405327AC',
+      b'68436233AB',
+      b'68436233AC',
+      b'68436250AE',
+      b'68529067AA',
+      b'68594993AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405565AB',
+      b'68405565AC',
+      b'68444299AC',
+      b'68480708AC',
+      b'68526663AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68397394AA',
+      b'68433480AB',
+      b'68453575AF',
+      b'68577676AA',
+      b'68593395AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416742AA',
+      b'68460393AA',
+      b'68460393AB',
+      b'68494461AB',
+      b'68524936AA',
+      b'68524936AB',
+      b'68525338AB',
+      b'68594340AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68413871AD ',
+      b'68413871AE ',
+      b'68413871AH ',
+      b'68413871AI ',
+      b'68413873AI ',
+      b'68443120AE ',
+      b'68443123AC ',
+      b'68443125AC ',
+      b'68526752AD ',
+      b'68526752AE ',
+      b'68526754AE ',
+      b'68536264AE ',
+      b'68700306AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68414271AC',
+      b'68414271AD',
+      b'68414275AC',
+      b'68443154AB',
+      b'68443155AC',
+      b'68443158AB',
+      b'68501050AD',
+      b'68527221AB',
+      b'68527223AB',
+      b'68586231AD',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
+  CAR.PACIFICA_2018_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68358439AE',
+      b'68358439AG',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68358990AC',
+      b'68405939AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AD',
+      b'68525339AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68366580AI ',
+      b'68366580AK ',
+      b'68366580AM ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190226AI',
+      b'05190226AK',
+      b'05190226AM',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  CAR.PACIFICA_2019_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405292AC',
+      b'68434956AC',
+      b'68434956AD',
+      b'68434960AE',
+      b'68434960AF',
+      b'68529064AB',
+      b'68594990AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405567AB',
+      b'68405567AC',
+      b'68453076AD',
+      b'68480710AC',
+      b'68526665AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AB',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+      b'68598670AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416741AA',
+      b'68460392AA',
+      b'68525339AA',
+      b'68525339AB',
+      b'68594341AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68416680AE ',
+      b'68416680AF ',
+      b'68416680AG ',
+      b'68444228AD ',
+      b'68444228AE ',
+      b'68444228AF ',
+      b'68499122AD ',
+      b'68499122AE ',
+      b'68499122AF ',
+      b'68526772AD ',
+      b'68526772AH ',
+      b'68599493AC ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05185116AF',
+      b'05185116AJ',
+      b'05185116AK',
+      b'05190240AP',
+      b'05190240AQ',
+      b'05190240AR',
+      b'05190265AG',
+      b'05190265AH',
+      b'05190289AE',
+      b'68540977AH',
+      b'68540977AK',
+      b'68597647AE',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE: [{
-    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  CAR.JEEP_GRAND_CHEROKEE: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68302211AC',
+      b'68302212AD',
+      b'68302246AC',
+      b'68331511AC',
+      b'68331574AC',
+      b'68331687AC',
+      b'68340272AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68316742AB',
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68306178AD',
+      b'68336276AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672627AB',
+      b'68332015AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68321644AB',
+      b'68321644AC',
+      b'68321646AC',
+      b'68321648AC',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035920AE ',
+      b'68284455AI ',
+      b'68284456AI ',
+      b'68284477AF ',
+      b'68325564AH ',
+      b'68325565AH ',
+      b'68325565AI ',
+      b'68325618AD ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035517AH',
+      b'68311218AC',
+      b'68311223AF',
+      b'68311223AG',
+      b'68361911AE',
+      b'68361911AF',
+      b'68361911AH',
+      b'68361916AD',
+    ],
   },
-  {
-    257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE_2019: [{
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-}
-
-FW_VERSIONS = {
   CAR.JEEP_GRAND_CHEROKEE_2019: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68402703AB',
+      b'68402708AB',
       b'68402971AD',
+      b'68454144AD',
+      b'68454152AB',
+      b'68454156AB',
+      b'68516650AB',
+      b'68516651AB',
+      b'68516669AB',
+      b'68516671AB',
+      b'68516683AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68355363AB',
+      b'68355364AB',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68408639AC',
       b'68408639AD',
+      b'68499978AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
+      b'04672788AA',
       b'68456722AC',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68417279AA',
+      b'68417280AA',
       b'68453431AA',
+      b'68453433AA',
+      b'68453435AA',
+      b'68499171AA',
+      b'68499171AB',
+      b'68501183AA',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
+      b'68412635AG ',
+      b'68422860AB',
+      b'68449435AE ',
+      b'68496223AA ',
+      b'68504959AD ',
+      b'68504960AD ',
+      b'68504993AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035707AA',
+      b'68419672AC',
+      b'68423905AB',
+      b'68449258AC',
+      b'68495807AA',
+      b'68495807AB',
+      b'68503641AC',
+      b'68503664AC',
     ],
   },
   CAR.RAM_1500: {
@@ -94,18 +363,39 @@ FW_VERSIONS = {
       b'68294063AH',
       b'68294063AI',
       b'68434846AC',
+      b'68434847AC',
+      b'68434849AC',
+      b'68434856AC',
       b'68434858AC',
+      b'68434859AC',
       b'68434860AC',
+      b'68453483AC',
+      b'68453487AD',
+      b'68453491AC',
+      b'68453499AD',
       b'68453503AC',
       b'68453505AC',
+      b'68453505AD',
       b'68453511AC',
+      b'68453513AC',
       b'68453513AD',
       b'68453514AD',
+      b'68505633AB',
+      b'68510277AG',
+      b'68510277AH',
       b'68510280AG',
+      b'68510282AG',
+      b'68510282AH',
       b'68510283AG',
       b'68527346AE',
+      b'68527361AD',
       b'68527375AD',
+      b'68527381AE',
       b'68527382AE',
+      b'68527383AD',
+      b'68527387AE',
+      b'68527403AC',
+      b'68631942AA',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -155,46 +445,102 @@ FW_VERSIONS = {
       b'68312176AE',
       b'68312176AG',
       b'68440789AC',
+      b'68466110AA',
       b'68466110AB',
       b'68469901AA',
+      b'68469907AA',
+      b'68522583AA',
       b'68522583AB',
+      b'68522584AA',
       b'68522585AB',
       b'68552788AA',
       b'68552789AA',
       b'68552790AA',
+      b'68552791AB',
+      b'68552794AA',
       b'68585106AB',
+      b'68585108AB',
       b'68585109AB',
       b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'05035699AG ',
+      b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05149368AA ',
       b'05149591AD ',
+      b'05149591AE ',
       b'05149592AE ',
+      b'05149600AD ',
+      b'05149605AE ',
       b'05149846AA ',
       b'05149848AA ',
+      b'05190341AD',
+      b'68378695AJ ',
+      b'68378696AJ ',
       b'68378701AI ',
+      b'68378710AL ',
       b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
+      b'68448163AK',
+      b'68448163AL',
+      b'68448165AG',
       b'68448165AK',
+      b'68455111AC ',
+      b'68455119AC ',
+      b'68455145AC ',
+      b'68455145AE ',
+      b'68455146AC ',
+      b'68467915AC ',
+      b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
+      b'68502719AC ',
+      b'68502722AC ',
+      b'68502734AF ',
+      b'68502740AF ',
+      b'68502741AF ',
+      b'68502742AC ',
       b'68539650AD',
+      b'68539650AF',
+      b'68539651AD',
+      b'68586101AA ',
+      b'68586105AB ',
+      b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'05035706AD',
+      b'05035842AB',
+      b'05036069AA',
       b'05149536AC',
+      b'05149537AC',
+      b'05149543AC',
       b'68360078AL',
+      b'68360080AL',
       b'68360080AM',
       b'68360081AM',
+      b'68360085AJ',
       b'68360085AL',
       b'68384328AD',
       b'68384332AD',
+      b'68445531AC',
       b'68445533AB',
+      b'68445536AB',
+      b'68445537AB',
+      b'68466081AB',
+      b'68466087AB',
+      b'68484466AC',
       b'68484467AC',
+      b'68484471AC',
       b'68502994AD',
       b'68520867AE',
+      b'68520867AF',
+      b'68520870AC',
       b'68540431AB',
+      b'68540433AB',
+      b'68629936AC',
     ],
   },
   CAR.RAM_HD: {

selfdrive/car/chrysler/values.py

@@ -64,17 +64,17 @@ class ChryslerCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
-  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
-  CAR.PACIFICA_2018_HYBRID: None,  # same platforms
+  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+    ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
   ],
   CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
     ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
@@ -117,8 +117,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
+    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids, NOTE: not on all hybrid platforms
   ],
 )
 

selfdrive/car/ford/carcontroller.py

@@ -1,10 +1,10 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -90,7 +90,7 @@ class CarController:
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

selfdrive/car/ford/fingerprints.py

@@ -19,12 +19,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -47,17 +41,6 @@ FW_VERSIONS = {
       b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
@@ -83,21 +66,9 @@ FW_VERSIONS = {
       b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.F_150_MK14: {
     (Ecu.eps, 0x730, None): [
@@ -112,9 +83,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
@@ -126,9 +94,6 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.MUSTANG_MACH_E_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -144,10 +109,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -162,9 +123,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -181,14 +139,5 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
 }

selfdrive/car/ford/fordcan.py

@@ -127,13 +127,12 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
   Frequency is 50Hz.
   """
-
   decel = accel < 0 and long_active
   values = {
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    "AccPrpl_A_Pred": gas,                            # Acceleration request: [-5|5.23] m/s^2
+    "AccPrpl_A_Pred": -5.0,                           # Acceleration request: [-5|5.23] m/s^2
     "AccResumEnbl_B_Rq": 1 if long_active else 0,
     "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
     # TODO: we may be able to improve braking response by utilizing pre-charging better

selfdrive/car/ford/interface.py

@@ -21,6 +21,10 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:

selfdrive/car/ford/tests/test_ford.py

@@ -52,7 +52,7 @@ class TestFordFW(unittest.TestCase):
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
+      self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
       self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
       self.assertIsNone(subaddr, "Unexpected ECU subaddress")
 

selfdrive/car/ford/values.py

@@ -111,21 +111,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
-    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.engine],
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
   ],
   extra_ecus=[
+    (Ecu.engine, 0x7e0, None),
     (Ecu.shiftByWire, 0x732, None),
   ],
 )

selfdrive/car/fw_query_definitions.py

@@ -14,6 +14,9 @@ EcuAddrSubAddr = Tuple[int, int, Optional[int]]
 LiveFwVersions = Dict[AddrType, Set[bytes]]
 OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
 
+STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+
+
 def p16(val):
   return struct.pack("!H", val)
 
@@ -56,6 +59,9 @@ class StdQueries:
   UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
   UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
 
+  GM_VIN_REQUEST = b'\x1a\x90'
+  GM_VIN_RESPONSE = b'\x5a\x90'
+
 
 @dataclass
 class Request:
@@ -90,3 +96,16 @@ class FwQueryConfig:
         new_request = copy.deepcopy(self.requests[i])
         new_request.bus += 4
         self.requests.append(new_request)
+
+  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, include_ecu_type: bool = True,
+                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr] | set[AddrType]:
+    # Add ecus in database + extra ecus
+    brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
+
+    if include_extra_ecus:
+      brand_ecus |= set(self.extra_ecus)
+
+    if not include_ecu_type:
+      return {(addr, subaddr) for _, addr, subaddr in brand_ecus}
+
+    return brand_ecus

selfdrive/car/fw_versions.py

@@ -45,16 +45,6 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
   return dict(fw_versions_dict)
 
 
-def get_brand_addrs() -> Dict[str, Set[AddrType]]:
-  brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set)
-  for brand, cars in VERSIONS.items():
-    # Add ecus in database + extra ecus to match against
-    brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
-    for fw in cars.values():
-      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
-  return dict(brand_addrs)
-
-
 def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
@@ -105,11 +95,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
   needs to match the database."""
+  if extra_fw_versions is None:
+    extra_fw_versions = {}
+
   invalid = set()
   candidates = {c: f for c, f in FW_VERSIONS.items() if
                 is_brand(MODEL_TO_BRAND[c], match_brand)}
@@ -117,12 +110,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
   for candidate, fws in candidates.items():
     config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
     for ecu, expected_versions in fws.items():
+      expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
       ecu_type = ecu[0]
       addr = ecu[1:]
 
       found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
+        # FIXME: this logic can be improved to be more specific, should require one of the two addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
           continue
 
@@ -179,22 +174,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
     if r.bus > num_pandas * 4 - 1:
       continue
 
-    for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
-        # Only query ecus in whitelist if whitelist is not empty
-        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
-          a = (addr, sub_addr, r.bus)
-          # Build set of queries
-          if sub_addr is None:
-            if a not in parallel_queries[r.obd_multiplexing]:
-              parallel_queries[r.obd_multiplexing].append(a)
-          else:  # subaddresses must be queried one by one
-            if [a] not in queries[r.obd_multiplexing]:
-              queries[r.obd_multiplexing].append([a])
-
-          # Build set of expected responses to filter
-          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
-          responses.add((response_addr, sub_addr, r.bus))
+    for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
+      # Only query ecus in whitelist if whitelist is not empty
+      if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+        a = (addr, sub_addr, r.bus)
+        # Build set of queries
+        if sub_addr is None:
+          if a not in parallel_queries[r.obd_multiplexing]:
+            parallel_queries[r.obd_multiplexing].append(a)
+        else:  # subaddresses must be queried one by one
+          if [a] not in queries[r.obd_multiplexing]:
+            queries[r.obd_multiplexing].append([a])
+
+        # Build set of expected responses to filter
+        response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+        responses.add((response_addr, sub_addr, r.bus))
 
   for obd_multiplexing in queries:
     queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
@@ -210,7 +204,8 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
 def get_brand_ecu_matches(ecu_rx_addrs):
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  brand_addrs = get_brand_addrs()
+  brand_addrs = {brand: config.get_all_ecus(VERSIONS[brand], include_ecu_type=False) for
+                 brand, config in FW_QUERY_CONFIGS.items()}
   brand_matches = {brand: set() for brand, _, _ in REQUESTS}
 
   brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS}
@@ -275,19 +270,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   for brand, brand_versions in versions.items():
     config = FW_QUERY_CONFIGS[brand]
-    for ecu in brand_versions.values():
-      # Each brand can define extra ECUs to query for data collection
-      for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
-        a = (brand, addr, sub_addr)
-        if a not in ecu_types:
-          ecu_types[a] = ecu_type
-
-        if sub_addr is None:
-          if a not in parallel_addrs:
-            parallel_addrs.append(a)
-        else:
-          if [a] not in addrs:
-            addrs.append([a])
+    for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions):
+      a = (brand, addr, sub_addr)
+      if a not in ecu_types:
+        ecu_types[a] = ecu_type
+
+      if sub_addr is None:
+        if a not in parallel_addrs:
+          parallel_addrs.append(a)
+      else:
+        if [a] not in addrs:
+          addrs.append([a])
 
   addrs.insert(0, parallel_addrs)
 
@@ -350,6 +343,13 @@ if __name__ == "__main__":
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
+  # Set up params for boardd
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
   extra: Any = None
   if args.scan:
     extra = {}
@@ -360,13 +360,12 @@ if __name__ == "__main__":
       extra[(Ecu.unknown, 0x750, i)] = []
     extra = {"any": {"debug": extra}}
 
-  time.sleep(1.)
   num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
 
   t = time.time()
   print("Getting vin...")
-  vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 

selfdrive/car/gm/carstate.py

@@ -113,6 +113,10 @@ class CarState(CarStateBase):
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
+    if self.CP.enableBsm:
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+
     return ret
 
   @staticmethod
@@ -146,6 +150,9 @@ class CarState(CarStateBase):
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
+
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [

selfdrive/car/gm/fingerprints.py

@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from openpilot.selfdrive.car.gm.values import CAR
 
-# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions
+# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
 
 
 FINGERPRINTS = {
@@ -57,3 +57,6 @@ FINGERPRINTS = {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
 }
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
+}

selfdrive/car/gm/interface.py

@@ -72,6 +72,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct

selfdrive/car/gm/values.py

@@ -6,6 +6,8 @@ from typing import Dict, List, Union
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu
 
 
@@ -143,8 +145,42 @@ class CanBus:
   DROPPED = 192
 
 
+# In a Data Module, an identifier is a string used to recognize an object,
+# either by itself or together with the identifiers of parent objects.
+# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
+GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
+GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
+GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
+# This DID is for identifying the part number that reflects the mix of hardware,
+# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
+# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
+GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
+GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
+GM_FW_RESPONSE = b'\x5a'
+
+GM_FW_REQUESTS = [
+  GM_SOFTWARE_MODULE_1_REQUEST,
+  GM_SOFTWARE_MODULE_2_REQUEST,
+  GM_SOFTWARE_MODULE_3_REQUEST,
+  GM_END_MODEL_PART_NUMBER_REQUEST,
+  GM_BASE_MODEL_PART_NUMBER_REQUEST,
+]
+
 GM_RX_OFFSET = 0x400
 
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[request for req in GM_FW_REQUESTS for request in [
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
+      rx_offset=GM_RX_OFFSET,
+      bus=0,
+      logging=True,
+    ),
+  ]],
+  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
+)
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

selfdrive/car/honda/fingerprints.py

@@ -27,7 +27,9 @@ FW_VERSIONS = {
       b'37805-6A0-A930\x00\x00',
       b'37805-6A0-AF30\x00\x00',
       b'37805-6A0-AG30\x00\x00',
+      b'37805-6A0-AJ10\x00\x00',
       b'37805-6A0-C540\x00\x00',
+      b'37805-6A0-CG20\x00\x00',
       b'37805-6A1-H650\x00\x00',
       b'37805-6B2-A550\x00\x00',
       b'37805-6B2-A560\x00\x00',
@@ -37,7 +39,9 @@ FW_VERSIONS = {
       b'37805-6B2-A810\x00\x00',
       b'37805-6B2-A820\x00\x00',
       b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-AA10\x00\x00',
       b'37805-6B2-C520\x00\x00',
+      b'37805-6B2-C540\x00\x00',
       b'37805-6B2-M520\x00\x00',
       b'37805-6B2-Y810\x00\x00',
       b'37805-6M4-B730\x00\x00',
@@ -122,6 +126,7 @@ FW_VERSIONS = {
       b'78109-TVA-A230\x00\x00',
       b'78109-TVA-A310\x00\x00',
       b'78109-TVA-C010\x00\x00',
+      b'78109-TVA-C130\x00\x00',
       b'78109-TVA-L010\x00\x00',
       b'78109-TVA-L210\x00\x00',
       b'78109-TVA-R310\x00\x00',
@@ -151,6 +156,7 @@ FW_VERSIONS = {
       b'36802-TVA-A150\x00\x00',
       b'36802-TVA-A160\x00\x00',
       b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A180\x00\x00',
       b'36802-TVA-A330\x00\x00',
       b'36802-TVC-A330\x00\x00',
       b'36802-TVE-H070\x00\x00',
@@ -182,6 +188,7 @@ FW_VERSIONS = {
       b'57114-TWA-A050\x00\x00',
       b'57114-TWA-A530\x00\x00',
       b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
       b'57114-TWB-H030\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
@@ -199,6 +206,7 @@ FW_VERSIONS = {
       b'78109-TWA-A210\x00\x00',
       b'78109-TWA-A220\x00\x00',
       b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
       b'78109-TWA-H210\x00\x00',
       b'78109-TWA-L010\x00\x00',
       b'78109-TWA-L210\x00\x00',
@@ -218,6 +226,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
       b'36802-TWA-A330\x00\x00',
       b'36802-TWB-H060\x00\x00',
     ],
@@ -253,6 +262,7 @@ FW_VERSIONS = {
       b'37805-5BA-A760\x00\x00',
       b'37805-5BA-A930\x00\x00',
       b'37805-5BA-A960\x00\x00',
+      b'37805-5BA-C640\x00\x00',
       b'37805-5BA-C860\x00\x00',
       b'37805-5BA-L410\x00\x00',
       b'37805-5BA-L760\x00\x00',
@@ -296,6 +306,7 @@ FW_VERSIONS = {
       b'78109-TBA-A510\x00\x00',
       b'78109-TBA-A520\x00\x00',
       b'78109-TBA-A530\x00\x00',
+      b'78109-TBA-C310\x00\x00',
       b'78109-TBA-C520\x00\x00',
       b'78109-TBC-A310\x00\x00',
       b'78109-TBC-A320\x00\x00',
@@ -349,6 +360,7 @@ FW_VERSIONS = {
       b'37805-5AN-AK20\x00\x00',
       b'37805-5AN-AR10\x00\x00',
       b'37805-5AN-AR20\x00\x00',
+      b'37805-5AN-C650\x00\x00',
       b'37805-5AN-CH20\x00\x00',
       b'37805-5AN-E630\x00\x00',
       b'37805-5AN-E720\x00\x00',
@@ -369,6 +381,7 @@ FW_VERSIONS = {
       b'37805-5AZ-G840\x00\x00',
       b'37805-5BB-A530\x00\x00',
       b'37805-5BB-A540\x00\x00',
+      b'37805-5BB-A620\x00\x00',
       b'37805-5BB-A630\x00\x00',
       b'37805-5BB-A640\x00\x00',
       b'37805-5BB-C540\x00\x00',
@@ -418,6 +431,8 @@ FW_VERSIONS = {
       b'39990-TBA-C120\x00\x00',
       b'39990-TEA-T820\x00\x00',
       b'39990-TEZ-T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGG-J510\x00\x00',
@@ -457,6 +472,7 @@ FW_VERSIONS = {
       b'78109-TGG-A620\x00\x00',
       b'78109-TGG-A810\x00\x00',
       b'78109-TGG-A820\x00\x00',
+      b'78109-TGG-C010\x00\x00',
       b'78109-TGG-C220\x00\x00',
       b'78109-TGG-E110\x00\x00',
       b'78109-TGG-G030\x00\x00',
@@ -475,6 +491,7 @@ FW_VERSIONS = {
       b'36802-TFJ-G060\x00\x00',
       b'36802-TGG-A050\x00\x00',
       b'36802-TGG-A060\x00\x00',
+      b'36802-TGG-A070\x00\x00',
       b'36802-TGG-A130\x00\x00',
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
@@ -574,6 +591,7 @@ FW_VERSIONS = {
       b'37805-5PA-6630\x00\x00',
       b'37805-5PA-6640\x00\x00',
       b'37805-5PA-7630\x00\x00',
+      b'37805-5PA-9530\x00\x00',
       b'37805-5PA-9630\x00\x00',
       b'37805-5PA-9640\x00\x00',
       b'37805-5PA-9730\x00\x00',
@@ -590,6 +608,7 @@ FW_VERSIONS = {
       b'37805-5PA-AD10\x00\x00',
       b'37805-5PA-AF20\x00\x00',
       b'37805-5PA-AH20\x00\x00',
+      b'37805-5PA-BF10\x00\x00',
       b'37805-5PA-C680\x00\x00',
       b'37805-5PD-Q630\x00\x00',
       b'37805-5PF-F730\x00\x00',
@@ -634,6 +653,7 @@ FW_VERSIONS = {
       b'46114-TMC-U020\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TLA-A020\x00\x00',
       b'78109-TLA-A110\x00\x00',
       b'78109-TLA-A120\x00\x00',
       b'78109-TLA-A210\x00\x00',
@@ -812,7 +832,10 @@ FW_VERSIONS = {
       b'38897-THR-A020\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5MR-3050\x00\x00',
+      b'37805-5MR-3250\x00\x00',
       b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-4180\x00\x00',
       b'37805-5MR-A240\x00\x00',
       b'37805-5MR-A250\x00\x00',
       b'37805-5MR-A310\x00\x00',
@@ -851,6 +874,7 @@ FW_VERSIONS = {
       b'28102-5MX-A001\x00\x00',
       b'28102-5MX-A600\x00\x00',
       b'28102-5MX-A610\x00\x00',
+      b'28102-5MX-A700\x00\x00',
       b'28102-5MX-A710\x00\x00',
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
@@ -871,6 +895,7 @@ FW_VERSIONS = {
       b'78109-THR-A420\x00\x00',
       b'78109-THR-A430\x00\x00',
       b'78109-THR-A720\x00\x00',
+      b'78109-THR-A730\x00\x00',
       b'78109-THR-A820\x00\x00',
       b'78109-THR-A830\x00\x00',
       b'78109-THR-AB20\x00\x00',
@@ -888,6 +913,7 @@ FW_VERSIONS = {
       b'78109-THR-AL10\x00\x00',
       b'78109-THR-AN10\x00\x00',
       b'78109-THR-C220\x00\x00',
+      b'78109-THR-C320\x00\x00',
       b'78109-THR-C330\x00\x00',
       b'78109-THR-CE20\x00\x00',
       b'78109-THR-DA20\x00\x00',
@@ -924,29 +950,47 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5EY-A050\x00\x00',
       b'28101-5EY-A100\x00\x00',
+      b'28101-5EY-A430\x00\x00',
+      b'28101-5EY-A500\x00\x00',
       b'28101-5EZ-A050\x00\x00',
       b'28101-5EZ-A060\x00\x00',
       b'28101-5EZ-A100\x00\x00',
       b'28101-5EZ-A210\x00\x00',
+      b'28101-5EZ-A330\x00\x00',
       b'28101-5EZ-A430\x00\x00',
+      b'28101-5EZ-A500\x00\x00',
       b'28101-5EZ-A600\x00\x00',
       b'28101-5EZ-A700\x00\x00',
+      b'28103-5EY-A110\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-4060\x00\x00',
       b'37805-RLV-4070\x00\x00',
+      b'37805-RLV-5140\x00\x00',
+      b'37805-RLV-5230\x00\x00',
       b'37805-RLV-A830\x00\x00',
       b'37805-RLV-A840\x00\x00',
       b'37805-RLV-B210\x00\x00',
       b'37805-RLV-B220\x00\x00',
       b'37805-RLV-B420\x00\x00',
+      b'37805-RLV-B430\x00\x00',
+      b'37805-RLV-B620\x00\x00',
+      b'37805-RLV-B710\x00\x00',
+      b'37805-RLV-B720\x00\x00',
       b'37805-RLV-C430\x00\x00',
       b'37805-RLV-C510\x00\x00',
       b'37805-RLV-C520\x00\x00',
       b'37805-RLV-C530\x00\x00',
       b'37805-RLV-C910\x00\x00',
       b'37805-RLV-F120\x00\x00',
+      b'37805-RLV-L080\x00\x00',
+      b'37805-RLV-L090\x00\x00',
       b'37805-RLV-L160\x00\x00',
+      b'37805-RLV-L180\x00\x00',
+      b'37805-RLV-L350\x00\x00',
+      b'37805-RLV-L410\x00\x00',
+      b'37805-RLV-L430\x00\x00',
+      b'37805-RLV-L850\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
@@ -973,6 +1017,7 @@ FW_VERSIONS = {
       b'36161-TG7-D520\x00\x00',
       b'36161-TG7-D630\x00\x00',
       b'36161-TG7-Y630\x00\x00',
+      b'36161-TG8-A410\x00\x00',
       b'36161-TG8-A520\x00\x00',
       b'36161-TG8-A630\x00\x00',
       b'36161-TG8-A720\x00\x00',
@@ -980,6 +1025,7 @@ FW_VERSIONS = {
       b'36161-TGS-A030\x00\x00',
       b'36161-TGS-A130\x00\x00',
       b'36161-TGS-A220\x00\x00',
+      b'36161-TGS-A320\x00\x00',
       b'36161-TGT-A030\x00\x00',
       b'36161-TGT-A130\x00\x00',
     ],
@@ -1016,7 +1062,10 @@ FW_VERSIONS = {
       b'78109-TG8-AJ10\x00\x00',
       b'78109-TG8-AJ20\x00\x00',
       b'78109-TG8-AK20\x00\x00',
+      b'78109-TG8-AS20\x00\x00',
+      b'78109-TGS-AB10\x00\x00',
       b'78109-TGS-AC10\x00\x00',
+      b'78109-TGS-AD10\x00\x00',
       b'78109-TGS-AJ20\x00\x00',
       b'78109-TGS-AK20\x00\x00',
       b'78109-TGS-AP20\x00\x00',
@@ -1057,6 +1106,7 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TX4-A210\x00\x00',
       b'78109-TX4-A310\x00\x00',
+      b'78109-TX5-A210\x00\x00',
       b'78109-TX5-A310\x00\x00',
     ],
   },
@@ -1069,6 +1119,7 @@ FW_VERSIONS = {
       b'37805-5YF-A420\x00\x00',
       b'37805-5YF-A430\x00\x00',
       b'37805-5YF-A750\x00\x00',
+      b'37805-5YF-A760\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
       b'37805-5YF-AD20\x00\x00',
@@ -1076,6 +1127,7 @@ FW_VERSIONS = {
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\x00\x00',
       b'37805-5YF-C420\x00\x00',
+      b'37805-5YF-C430\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
@@ -1118,6 +1170,7 @@ FW_VERSIONS = {
       b'78109-TJB-AS10\x00\x00',
       b'78109-TJB-AU10\x00\x00',
       b'78109-TJB-AW10\x00\x00',
+      b'78109-TJC-A240\x00\x00',
       b'78109-TJC-A420\x00\x00',
       b'78109-TJC-AA10\x00\x00',
       b'78109-TJC-AD10\x00\x00',

selfdrive/car/honda/values.py

@@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -169,6 +169,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
 
     # Data collection requests:
+    # Attempt to get the radarless Civic 2022+ camera FW
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+      logging=True
+    ),
     # Log extra identifiers for current ECUs
     Request(
       [HONDA_VERSION_REQUEST],

selfdrive/car/hyundai/fingerprints.py

@@ -198,6 +198,7 @@ FW_VERSIONS = {
   CAR.IONIQ_EV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -206,6 +207,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2700 201027',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
@@ -1543,6 +1545,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',

selfdrive/car/interfaces.py

@@ -125,7 +125,6 @@ class CarInterfaceBase(ABC):
   @staticmethod
   def get_steer_feedforward_default(desired_angle, v_ego):
     # Proportional to realigning tire momentum: lateral acceleration.
-    # TODO: something with lateralPlan.curvatureRates
     return desired_angle * (v_ego**2)
 
   def get_steer_feedforward_function(self):

selfdrive/car/nissan/values.py

@@ -59,27 +59,35 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
 NISSAN_RX_OFFSET = 0x20
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
+  requests=[request for bus, logging in ((0, True), (1, False)) for request in [
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
     # Rogue's engine solely responds to this
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
-  ],
+  ]],
 )
 
 DBC = {

selfdrive/car/subaru/fingerprints.py

@@ -8,7 +8,6 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 \x19\x02\x00',
       b'\xa5 !\x02\x00',
-      b'\xf1\x82\xa5 \x19\x02\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x05\xc0\xd0\x00',
@@ -25,10 +24,6 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xbb,\xa0t\x07',
       b'\xd1,\xa0q\x07',
-      b'\xf1\x82\xbb,\xa0t\x07',
-      b'\xf1\x82\xbb,\xa0t\x87',
-      b'\xf1\x82\xd1,\xa0q\x07',
-      b'\xf1\x82\xd9,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x00\xfe\xf7\x00\x00',
@@ -59,7 +54,7 @@ FW_VERSIONS = {
       b'\xa1  \x02\x01',
       b'\xa1  \x02\x02',
       b'\xa1  \x03\x03',
-      b'\xa1\\  x04\x01',
+      b'\xa1  \x04\x01',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9b\xc0\x11\x00',
@@ -96,7 +91,6 @@ FW_VERSIONS = {
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
       b'\xa2 \x19`\x00',
-      b'\xf1\x00\xb2\x06\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'z\xc0\x00\x00',
@@ -170,7 +164,6 @@ FW_VERSIONS = {
       b'\xa2 !3\x00',
       b'\xa2 !`\x00',
       b'\xa2 !i\x00',
-      b'\xf1\x00\xb2\x06\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'\n\xc0\x04\x00',
@@ -214,7 +207,6 @@ FW_VERSIONS = {
       b'\xe9\xf5B0\x00',
       b'\xe9\xf6B0\x00',
       b'\xe9\xf6F0\x00',
-      b'\xf1\x00\xd7\x10@',
     ],
   },
   CAR.CROSSTREK_HYBRID: {
@@ -243,7 +235,6 @@ FW_VERSIONS = {
       b'\xa3 \x19&\x00',
       b'\xa3  \x14\x00',
       b'\xa3  \x14\x01',
-      b'\xf1\x00\xbb\r\x05',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x00\x00',
@@ -257,7 +248,6 @@ FW_VERSIONS = {
       b'\x00\x00e`\x1f@  ',
       b'\x00\x00e\x97\x00\x00\x00\x00',
       b'\x00\x00e\x97\x1f@ 0',
-      b'\xf1\x00\xac\x02\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xb6"`A\x07',
@@ -266,7 +256,6 @@ FW_VERSIONS = {
       b'\xcb"`p\x07',
       b'\xcf"`0\x07',
       b'\xcf"`p\x07',
-      b'\xf1\x00\xa2\x10\n',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xe6B1\x00',
@@ -299,7 +288,6 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'm\x97\x14@',
       b'}\x97\x14@',
-      b'\xf1\x00\xbb\x0c\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'm\xc0\x10\x00',
@@ -316,7 +304,6 @@ FW_VERSIONS = {
       b'\xa7)\xa0q\x07',
       b'\xba"@@\x07',
       b'\xba"@p\x07',
-      b'\xf1\x82\xa7)\xa0q\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
@@ -386,8 +373,6 @@ FW_VERSIONS = {
       b'\x00\x00c\xb7\x1f@\x10\x16',
       b'\x00\x00c\xd1\x1f@\x10\x17',
       b'\x00\x00c\xec\x1f@ \x04',
-      b'\x00\x00c\xec7@\x04',
-      b'\xf1\x00\xf0\xe0\x0e',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xa0"@\x80\x07',
@@ -461,11 +446,12 @@ FW_VERSIONS = {
   },
   CAR.OUTBACK: {
     (Ecu.abs, 0x7b0, None): [
-      b'\xa1 \x06\x02',
       b'\xa1  \x06\x00',
       b'\xa1  \x06\x01',
+      b'\xa1  \x06\x02',
       b'\xa1  \x07\x00',
       b'\xa1  \x07\x02',
+      b'\xa1  \x07\x03',
       b'\xa1  \x08\x00',
       b'\xa1  \x08\x01',
       b'\xa1  \x08\x02',
@@ -475,6 +461,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x746, None): [
       b'\x1b\xc0\x10\x00',
       b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x10\x02',
       b'\x9b\xc0 \x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
@@ -493,10 +480,8 @@ FW_VERSIONS = {
       b'\xde,\xa0@\x07',
       b'\xe2"`0\x07',
       b'\xe2"`p\x07',
+      b'\xe2"`q\x07',
       b'\xe3,\xa0@\x07',
-      b'\xf1\x82\xbc,\xa0q\x07',
-      b'\xf1\x82\xe2,\xa0@\x07',
-      b'\xf1\x82\xe3,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xf6D@\x00',
@@ -506,7 +491,6 @@ FW_VERSIONS = {
       b'\xa7\x8e\xf40\x00',
       b'\xa7\xf6D@\x00',
       b'\xa7\xfe\xf4@\x00',
-      b'\xf1\x82\xa7\xf6D@\x00',
     ],
   },
   CAR.FORESTER_2022: {

selfdrive/car/subaru/tests/test_subaru.py

@@ -0,0 +1,20 @@
+from cereal import car
+import unittest
+from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+
+class TestSubaruFingerprint(unittest.TestCase):
+  def test_fw_version_format(self):
+    for platform, fws_per_ecu in FW_VERSIONS.items():
+      for (ecu, _, _), fws in fws_per_ecu.items():
+        fw_size = len(fws[0])
+        for fw in fws:
+          self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}")
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/car/subaru/values.py

@@ -137,6 +137,15 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
+HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -162,17 +171,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
-      logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=1,
-      logging=True,
       obd_multiplexing=False,
     ),
   ],
+  # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
+  non_essential_ecus={
+    Ecu.eps: list(GLOBAL_GEN2),
+  }
 )
 
 DBC = {
@@ -192,12 +203,3 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
-
-LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
-HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
-
-# Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all torque-based cars produced around 2019 - present
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}

selfdrive/car/tests/routes.py

@@ -193,14 +193,14 @@ routes = [
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
+  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
-  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
+  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX),  # hybrid
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
   CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
   CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
@@ -210,7 +210,7 @@ routes = [
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER),  # hybrid
   CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
   CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -5,10 +5,9 @@ import time
 import unittest
 from collections import defaultdict
 from parameterized import parameterized
-import threading
+from unittest import mock
 
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
@@ -148,6 +147,12 @@ class TestFwFingerprint(unittest.TestCase):
       with self.subTest():
         self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
 
+    # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
+    for brand, config in FW_QUERY_CONFIGS.items():
+      self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0)
+      self.assertEqual(config.get_all_ecus({}, include_ecu_type=True), set(config.extra_ecus))
+      self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0)
+
   def test_fw_request_ecu_whitelist(self):
     for brand, config in FW_QUERY_CONFIGS.items():
       with self.subTest(brand=brand):
@@ -176,29 +181,36 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.12
-
-  @staticmethod
-  def _run_thread(thread: threading.Thread) -> float:
-    params = Params()
-    params.put_bool("ObdMultiplexingEnabled", True)
-    thread.start()
-    t = time.perf_counter()
-    while thread.is_alive():
-      time.sleep(0.02)
-      if not params.get_bool("ObdMultiplexingChanged"):
-        params.put_bool("ObdMultiplexingChanged", True)
-    return time.perf_counter() - t
+  TOL: float = 0.05
+
+  # for patched functions
+  current_obd_multiplexing: bool
+  total_time: float
+
+  def fake_set_obd_multiplexing(self, _, obd_multiplexing):
+    """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
+    if obd_multiplexing != self.current_obd_multiplexing:
+      self.current_obd_multiplexing = obd_multiplexing
+      self.total_time += 0.1 / 2
+
+  def fake_get_data(self, timeout):
+    self.total_time += timeout
+    return {}
 
   def _benchmark_brand(self, brand, num_pandas):
     fake_socket = FakeSocket()
-    brand_time = 0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
-                                kwargs=dict(num_pandas=num_pandas))
-      brand_time += self._run_thread(thread)
+    self.total_time = 0
+    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+          mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+      for _ in range(self.N):
+        # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
+        self.current_obd_multiplexing = True
 
-    return brand_time / self.N
+        t = time.perf_counter()
+        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
+        self.total_time += time.perf_counter() - t
+
+    return self.total_time / self.N
 
   def _assert_timing(self, avg_time, ref_time):
     self.assertLess(avg_time, ref_time + self.TOL)
@@ -206,45 +218,53 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_time = 1.0
-    present_ecu_ref_time = 0.8
+    vin_ref_times = {'worst': 1.5, 'best': 0.5}  # best assumes we go through all queries to get a match
+    present_ecu_ref_time = 0.75
+
+    def fake_get_ecu_addrs(*_, timeout):
+      self.total_time += timeout
+      return set()
 
     fake_socket = FakeSocket()
-    present_ecu_time = 0.0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
-                                kwargs=dict(num_pandas=2))
-      present_ecu_time += self._run_thread(thread)
-    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
-    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
-
-    vin_time = 0.0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
-      vin_time += self._run_thread(thread)
-    self._assert_timing(vin_time / self.N, vin_ref_time)
-    print(f'get_vin, query time={vin_time / self.N} seconds')
+    self.total_time = 0.0
+    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+          mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)):
+      for _ in range(self.N):
+        self.current_obd_multiplexing = True
+        get_present_ecus(fake_socket, fake_socket, num_pandas=2)
+    self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
+
+    for name, args in (('worst', {}), ('best', {'retry': 1})):
+      with self.subTest(name=name):
+        self.total_time = 0.0
+        with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+          for _ in range(self.N):
+            get_vin(fake_socket, fake_socket, (0, 1), **args)
+        self._assert_timing(self.total_time / self.N, vin_ref_times[name])
+        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.41
+    total_ref_time = 6.9
     brand_ref_times = {
       1: {
-        'body': 0.11,
+        'gm': 0.5,
+        'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
-        'honda': 0.52,
-        'hyundai': 0.72,
+        'ford': 0.1,
+        'honda': 0.55,
+        'hyundai': 0.65,
         'mazda': 0.2,
-        'nissan': 0.4,
-        'subaru': 0.52,
+        'nissan': 0.8,
+        'subaru': 0.45,
         'tesla': 0.2,
         'toyota': 1.6,
         'volkswagen': 0.2,
       },
       2: {
-        'ford': 0.3,
-        'hyundai': 1.12,
+        'ford': 0.2,
+        'hyundai': 1.05,
       }
     }
 

selfdrive/car/tests/test_models.py

@@ -22,7 +22,8 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.tools.lib.comma_car_segments import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
@@ -63,6 +64,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
 
 @pytest.mark.slow
+@pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
@@ -181,6 +183,8 @@ class TestCarModelBase(unittest.TestCase):
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
+    os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
   @classmethod
   def tearDownClass(cls):
     del cls.can_msgs

selfdrive/car/tests/test_models_segs.txt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
-size 125301
+oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d
+size 125147

selfdrive/car/torque_data/params.toml

@@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
 "LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 "LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
 "LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
 "MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
 "SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
 "SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
 "TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
 "TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
 "TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
 "TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 "TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
 "TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]

selfdrive/car/torque_data/substitute.toml

@@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS IS 2018" = "LEXUS NX 2018"
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
-"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"
 
 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"

selfdrive/car/toyota/carcontroller.py

@@ -102,7 +102,7 @@ class CarController:
     if self.CP.enableGasInterceptor and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
-      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
+      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
       elif self.CP.carFingerprint in (CAR.COROLLA,):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])

selfdrive/car/toyota/carstate.py

@@ -71,7 +71,7 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
 
-    ret.standstill = ret.vEgoRaw == 0
+    ret.standstill = abs(ret.vEgoRaw) < 1e-3
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
     ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]

selfdrive/car/toyota/fingerprints.py

@@ -614,13 +614,23 @@ FW_VERSIONS = {
       b'\x01896630E88000\x00\x00\x00\x00',
       b'\x01896630EA0000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E51000\x00\x00\x00\x00\x00\x00\x00\x0050E17000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48140\x00\x00\x00\x00\x00\x00',
       b'8965B48150\x00\x00\x00\x00\x00\x00',
+      b'8965B48160\x00\x00\x00\x00\x00\x00',
       b'8965B48210\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F15260E011\x00\x00\x00\x00\x00\x00',
+      b'F152648541\x00\x00\x00\x00\x00\x00',
+      b'F152648542\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
@@ -635,29 +645,6 @@ FW_VERSIONS = {
       b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDERH: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48160\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648541\x00\x00\x00\x00\x00\x00',
-      b'F152648542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
   CAR.HIGHLANDER_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48241\x00\x00\x00\x00\x00\x00',
@@ -1273,43 +1260,30 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_ES: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152606202\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513309500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33502\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3302200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
       b'F152633171\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881513309400\x00\x00\x00\x00',
+      b'881513309500\x00\x00\x00\x00',
       b'881513310400\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B33502\x00\x00\x00\x00\x00\x00',
       b'8965B33512\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
       b'8821F4701300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F3302001\x00\x00\x00\x00',
+      b'8646F3302100\x00\x00\x00\x00',
       b'8646F3302200\x00\x00\x00\x00',
     ],
   },
@@ -1463,48 +1437,12 @@ FW_VERSIONS = {
       b'\x018966348W1300\x00\x00\x00\x00',
       b'\x018966348W2300\x00\x00\x00\x00',
     ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648472\x00\x00\x00\x00\x00\x00',
-      b'F152648473\x00\x00\x00\x00\x00\x00',
-      b'F152648474\x00\x00\x00\x00\x00\x00',
-      b'F152648492\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648494\x00\x00\x00\x00\x00\x00',
-      b'F152648630\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514810300\x00\x00\x00\x00',
-      b'881514810500\x00\x00\x00\x00',
-      b'881514810700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48102\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801100\x00\x00\x00\x00',
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RXH: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1513,13 +1451,23 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152648361\x00\x00\x00\x00\x00\x00',
+      b'F152648472\x00\x00\x00\x00\x00\x00',
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+      b'F152648474\x00\x00\x00\x00\x00\x00',
+      b'F152648492\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648494\x00\x00\x00\x00\x00\x00',
       b'F152648501\x00\x00\x00\x00\x00\x00',
       b'F152648502\x00\x00\x00\x00\x00\x00',
       b'F152648504\x00\x00\x00\x00\x00\x00',
+      b'F152648630\x00\x00\x00\x00\x00\x00',
       b'F152648740\x00\x00\x00\x00\x00\x00',
       b'F152648A30\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881514810300\x00\x00\x00\x00',
+      b'881514810500\x00\x00\x00\x00',
+      b'881514810700\x00\x00\x00\x00',
       b'881514811300\x00\x00\x00\x00',
       b'881514811500\x00\x00\x00\x00',
       b'881514811700\x00\x00\x00\x00',
@@ -1538,6 +1486,7 @@ FW_VERSIONS = {
       b'8821F4701300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4801100\x00\x00\x00\x00',
       b'8646F4801200\x00\x00\x00\x00',
       b'8646F4802001\x00\x00\x00\x00',
       b'8646F4802100\x00\x00\x00\x00',

selfdrive/car/toyota/interface.py

@@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -98,7 +98,8 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
+      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
       stop_and_go = True
       ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
@@ -141,9 +142,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
-      if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
-        stop_and_go = True
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
       ret.tireStiffnessFactor = 0.444  # not optimized yet

selfdrive/car/toyota/tests/test_toyota.py

@@ -50,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase):
 
 
 class TestToyotaFingerprint(unittest.TestCase):
+  def test_non_essential_ecus(self):
+    # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
+        self.assertEqual(len(engine_ecus) > 1,
+                         car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
+                         f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
+
   # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
   # fingerprint in the absence of full FW matches:
   @settings(max_examples=100)
@@ -144,7 +153,7 @@ class TestToyotaFingerprint(unittest.TestCase):
         self.assertEqual(list(matches)[0], platform)
       else:
         # If a platform has multiple matches, add it and its matches
-        platforms_with_shared_codes |= {platform, *matches}
+        platforms_with_shared_codes |= {str(platform), *matches}
 
     self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
 

selfdrive/car/toyota/values.py

@@ -62,7 +62,6 @@ class CAR(StrEnum):
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
-  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
   PRIUS = "TOYOTA PRIUS 2017"
   PRIUS_V = "TOYOTA PRIUS v 2017"
   PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@@ -77,7 +76,6 @@ class CAR(StrEnum):
   # Lexus
   LEXUS_CTH = "LEXUS CT HYBRID 2018"
   LEXUS_ES = "LEXUS ES 2018"
-  LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_IS = "LEXUS IS 2018"
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
@@ -85,7 +83,6 @@ class CAR(StrEnum):
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
-  LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
   LEXUS_GS_F = "LEXUS GS F 2016"
 
@@ -147,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
-  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+  CAR.HIGHLANDER: [
+    ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+    ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
+  ],
   CAR.HIGHLANDER_TSS2: [
     ToyotaCarInfo("Toyota Highlander 2020-23"),
     ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   ],
-  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
   CAR.PRIUS: [
     ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@@ -188,11 +187,13 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  CAR.LEXUS_ES: [
+    ToyotaCarInfo("Lexus ES 2017-18"),
+    ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  ],
   CAR.LEXUS_ES_TSS2: [
     ToyotaCarInfo("Lexus ES 2019-24"),
-    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+    ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
@@ -209,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX 2017-19"),
-  ],
-  CAR.LEXUS_RXH: [
+    # Hybrid platforms
     ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
@@ -222,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
            CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 
@@ -349,13 +348,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes
 FW_CHUNK_LEN = 16
 
 # List of ECUs that are most unique across openpilot platforms
-# TODO: use hybrid ECU, splits similar ICE and hybrid variants
 # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
 #    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
 #    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
-# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+#    Note that the platform codes & major versions do not describe features in plain text, only with
+#    matching against other seen FW versions in the database they can describe features.
+# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code.
+#    For example the RAV4 2022's new radar architecture is shown for both with platform code.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination)
 # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
-PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
+PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
 
 # These platforms have at least one platform code for all ECUs shared with another platform.
 FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set()
@@ -395,8 +397,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
+    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
+                 CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -444,7 +446,6 @@ DBC = {
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
@@ -452,7 +453,6 @@ DBC = {
   CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -462,7 +462,6 @@ DBC = {
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -495,4 +494,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
 
 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}

selfdrive/car/vin.py

@@ -4,7 +4,7 @@ import re
 import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.selfdrive.car.fw_query_definitions import StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
 from openpilot.common.swaglog import cloudlog
 
 VIN_UNKNOWN = "0" * 17
@@ -15,33 +15,41 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
-  addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100))  # addrs to process/wait for
-  valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
   for i in range(retry):
-    for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
-      try:
-        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
-        results = query.get_data(timeout)
+    for bus in buses:
+      for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+      ):
+        if bus not in valid_buses:
+          continue
 
-        for addr in valid_vin_addrs:
-          vin = results.get((addr, None))
-          if vin is not None:
-            # Ford pads with null bytes
-            if len(vin) == 24:
-              vin = re.sub(b'\x00*$', b'', vin)
+        try:
+          query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset,
+                                     functional_addrs=functional_addrs, debug=debug)
+          results = query.get_data(timeout)
 
-            # Honda Bosch response starts with a length, trim to correct length
-            if vin.startswith(b'\x11'):
-              vin = vin[1:18]
+          for addr in vin_addrs:
+            vin = results.get((addr, None))
+            if vin is not None:
+              # Ford pads with null bytes
+              if len(vin) == 24:
+                vin = re.sub(b'\x00*$', b'', vin)
 
-            return get_rx_addr_for_tx_addr(addr), vin.decode()
+              # Honda Bosch response starts with a length, trim to correct length
+              if vin.startswith(b'\x11'):
+                vin = vin[1:18]
 
-        cloudlog.error(f"vin query retry ({i+1}) ...")
-      except Exception:
-        cloudlog.exception("VIN query exception")
+              cloudlog.warning(f"got vin with {request=}")
+              return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
+        except Exception:
+          cloudlog.exception("VIN query exception")
 
-  return 0, VIN_UNKNOWN
+    cloudlog.error(f"vin query retry ({i+1}) ...")
+
+  return -1, -1, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -59,5 +67,5 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   time.sleep(1)
 
-  vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

selfdrive/car/volkswagen/fingerprints.py

@@ -484,6 +484,7 @@ FW_VERSIONS = {
   },
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906025CK\xf1\x892228',
       b'\xf1\x8704E906027NJ\xf1\x891445',
       b'\xf1\x8704E906027NP\xf1\x891286',
       b'\xf1\x8705E906013BD\xf1\x892496',
@@ -492,6 +493,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158CR\xf1\x893924',
       b'\xf1\x8709S927158DN\xf1\x893946',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
@@ -540,6 +542,7 @@ FW_VERSIONS = {
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x875NA907115J \xf1\x890002',
+      b'\xf1\x875NA907115K \xf1\x890004',
       b'\xf1\x8783A907115  \xf1\x890007',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
@@ -570,6 +573,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
@@ -587,6 +591,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',

selfdrive/controls/controlsd.py

@@ -17,8 +17,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
-from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -32,6 +31,7 @@ from openpilot.system.hardware import HARDWARE
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
+CAMERA_OFFSET = 0.04
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -41,9 +41,9 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
 PandaType = log.PandaState.PandaType
-Desire = log.LateralPlan.Desire
-LaneChangeState = log.LateralPlan.LaneChangeState
-LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+Desire = log.Desire
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
@@ -77,7 +77,7 @@ class Controls:
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
                                   ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
@@ -105,14 +105,13 @@ class Controls:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-    passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle
 
     # detect sound card presence and ensure successful init
     sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
 
-    controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
     self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
@@ -172,7 +171,6 @@ class Controls:
     self.last_actuators = car.CarControl.Actuators.new_message()
     self.steer_limited = False
     self.desired_curvature = 0.0
-    self.desired_curvature_rate = 0.0
     self.experimental_mode = False
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
@@ -290,8 +288,8 @@ class Controls:
         self.events.add(EventName.calibrationInvalid)
 
     # Handle lane change
-    if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      direction = self.sm['lateralPlan'].laneChangeDirection
+    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['modelV2'].meta.laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
@@ -300,7 +298,7 @@ class Controls:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
+    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
@@ -372,8 +370,6 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['lateralPlan'].mpcSolutionValid:
-        self.events.add(EventName.plannerError)
       if not self.sm['liveLocationKalman'].posenetOK:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['liveLocationKalman'].deviceStable:
@@ -574,8 +570,8 @@ class Controls:
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
-    lat_plan = self.sm['lateralPlan']
     long_plan = self.sm['longitudinalPlan']
+    model_v2 = self.sm['modelV2']
 
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
@@ -590,9 +586,9 @@ class Controls:
     actuators.longControlState = self.LoC.long_control_state
 
     # Enable blinkers while lane changing
-    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
-      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
-      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+    if model_v2.meta.laneChangeState != LaneChangeState.off:
+      CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
+      CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
@@ -611,14 +607,11 @@ class Controls:
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
       # Steering PID loop and lateral MPC
-      self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
-                                                                                       lat_plan.psis,
-                                                                                       lat_plan.curvatures,
-                                                                                       lat_plan.curvatureRates)
+      self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
+      actuators.curvature = self.desired_curvature
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                              self.steer_limited, self.desired_curvature,
-                                                                             self.desired_curvature_rate, self.sm['liveLocationKalman'])
-      actuators.curvature = self.desired_curvature
+                                                                             self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
@@ -656,7 +649,8 @@ class Controls:
         if undershooting and turning and good_speed and max_torque:
           lac_log.active and self.events.add(EventName.steerSaturated)
       elif lac_log.saturated:
-        dpath_points = lat_plan.dPathPoints
+        # TODO probably should not use dpath_points but curvature
+        dpath_points = model_v2.position.y
         if len(dpath_points):
           # Check if we deviated from the path
           # TODO use desired vs actual curvature
@@ -782,12 +776,11 @@ class Controls:
       controlsState.alertSound = current_alert.audible_alert
 
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
     controlsState.enabled = self.enabled
     controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state

selfdrive/controls/lib/desire_helper.py

@@ -2,30 +2,30 @@ from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 
-LaneChangeState = log.LateralPlan.LaneChangeState
-LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 
 DESIRES = {
   LaneChangeDirection.none: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.Desire.none,
   },
   LaneChangeDirection.left: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
   },
 }
 
@@ -38,7 +38,7 @@ class DesireHelper:
     self.lane_change_ll_prob = 1.0
     self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
-    self.desire = log.LateralPlan.Desire.none
+    self.desire = log.Desire.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
@@ -110,5 +110,5 @@ class DesireHelper:
       self.keep_pulse_timer += DT_MDL
       if self.keep_pulse_timer > 1.0:
         self.keep_pulse_timer = 0.0
-      elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
-        self.desire = log.LateralPlan.Desire.none
+      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
+        self.desire = log.Desire.none

selfdrive/controls/lib/drive_helpers.py

@@ -3,8 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -22,7 +21,6 @@ CAR_ROTATION_RADIUS = 0.0
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
-
 MAX_VEL_ERR = 5.0
 
 ButtonEvent = car.CarState.ButtonEvent
@@ -163,35 +161,14 @@ def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
 
-def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
-  if len(psis) != CONTROL_N:
-    psis = [0.0]*CONTROL_N
-    curvatures = [0.0]*CONTROL_N
-    curvature_rates = [0.0]*CONTROL_N
+def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  delay = CP.steerActuatorDelay + .2
-
-  # MPC can plan to turn the wheel and turn back before t_delay. This means
-  # in high delay cases some corrections never even get commanded. So just use
-  # psi to calculate a simple linearization of desired curvature
-  current_curvature_desired = curvatures[0]
-  psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
-  average_curvature_desired = psi / (v_ego * delay)
-  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-
-  # This is the "desired rate of the setpoint" not an actual desired rate
-  desired_curvature_rate = curvature_rates[0]
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature_rate = clip(desired_curvature_rate,
-                                     -max_curvature_rate,
-                                     max_curvature_rate)
-  safe_desired_curvature = clip(desired_curvature,
-                                current_curvature_desired - max_curvature_rate * DT_MDL,
-                                current_curvature_desired + max_curvature_rate * DT_MDL)
-
-  return safe_desired_curvature, safe_desired_curvature_rate
+  safe_desired_curvature = clip(new_curvature,
+                                prev_curvature - max_curvature_rate * DT_CTRL,
+                                prev_curvature + max_curvature_rate * DT_CTRL)
+
+  return safe_desired_curvature
 
 
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,

selfdrive/controls/lib/events.py

@@ -912,14 +912,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
   },
 
-  # For planning the trajectory Model Predictive Control (MPC) is used. This is
-  # an optimization algorithm that is not guaranteed to find a feasible solution.
-  # If no solution is found or the solution has a very high cost this alert is thrown.
-  EventName.plannerError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"),
-    ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"),
-  },
-
   # When the relay in the harness box opens the CAN bus between the LKAS camera
   # and the rest of the car is separated. When messages from the LKAS camera
   # are received on the car side this usually means the relay hasn't opened correctly

selfdrive/controls/lib/latcontrol.py

@@ -17,7 +17,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pass
 
   def reset(self):

selfdrive/controls/lib/latcontrol_angle.py

@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:

selfdrive/controls/lib/latcontrol_pid.py

@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)

selfdrive/controls/lib/latcontrol_torque.py

@@ -36,7 +36,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
     if not active:

selfdrive/controls/lib/lateral_planner.py

@@ -1,74 +0,0 @@
-import numpy as np
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-import cereal.messaging as messaging
-from cereal import log
-
-TRAJECTORY_SIZE = 33
-CAMERA_OFFSET = 0.04
-
-class LateralPlanner:
-  def __init__(self, CP, debug=False):
-    self.DH = DesireHelper()
-
-    # Vehicle model parameters used to calculate lateral movement of car
-    self.factor1 = CP.wheelbase - CP.centerToFront
-    self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
-    self.last_cloudlog_t = 0
-    self.solution_invalid_cnt = 0
-
-    self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
-    self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3))
-    self.v_plan = np.zeros((TRAJECTORY_SIZE,))
-    self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
-    self.v_ego = MIN_SPEED
-    self.l_lane_change_prob = 0.0
-    self.r_lane_change_prob = 0.0
-
-    self.debug_mode = debug
-
-  def update(self, sm):
-    v_ego_car = sm['carState'].vEgo
-
-    # Parse model predictions
-    md = sm['modelV2']
-    if len(md.position.x) == TRAJECTORY_SIZE and len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
-      self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
-      self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
-      car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
-      self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
-      self.v_ego = self.v_plan[0]
-      self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
-
-    # Lane change logic
-    desire_state = md.meta.desireState
-    if len(desire_state):
-      self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
-      self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
-    lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
-    self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-
-  def publish(self, sm, pm):
-    plan_send = messaging.new_message('lateralPlan')
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
-
-    lateralPlan = plan_send.lateralPlan
-    lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
-    lateralPlan.dPathPoints = self.path_xyz[:,1].tolist()
-    lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist()
-
-    lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
-
-    lateralPlan.mpcSolutionValid = bool(1)
-    lateralPlan.solverExecutionTime = 0.0
-    if self.debug_mode:
-      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
-      lateralPlan.solverState.x = self.x_sol.tolist()
-
-    lateralPlan.desire = self.DH.desire
-    lateralPlan.useLaneLines = False
-    lateralPlan.laneChangeState = self.DH.lane_change_state
-    lateralPlan.laneChangeDirection = self.DH.lane_change_direction
-
-    pm.send('lateralPlan', plan_send)

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -34,7 +34,7 @@ class TestLatControl(unittest.TestCase):
 
     llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
 
     self.assertTrue(lac_log.saturated)
 

selfdrive/controls/plannerd.py

@@ -1,29 +1,19 @@
 #!/usr/bin/env python3
-import os
-import numpy as np
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
 
-def cumtrapz(x, t):
-  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
-
-def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
-  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
-  model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
-
+def publish_ui_plan(sm, pm, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
   uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
-  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
-  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
+  uiPlan.position.x = list(sm['modelV2'].position.x)
+  uiPlan.position.y = list(sm['modelV2'].position.y)
+  uiPlan.position.z = list(sm['modelV2'].position.z)
   uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
 
@@ -36,12 +26,8 @@ def plannerd_thread():
     CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  debug_mode = bool(int(os.getenv("DEBUG", "0")))
-
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP, debug=debug_mode)
-
-  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
@@ -49,11 +35,9 @@ def plannerd_thread():
     sm.update()
 
     if sm.updated['modelV2']:
-      lateral_planner.update(sm)
-      lateral_planner.publish(sm, pm)
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
+      publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()

selfdrive/controls/tests/test_startup.py

@@ -1,6 +1,4 @@
-#!/usr/bin/env python3
-import time
-import unittest
+import os
 from parameterized import parameterized
 
 from cereal import log, car
@@ -11,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 Ecu = car.CarParams.Ecu
@@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [
   (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-class TestStartup(unittest.TestCase):
-
-  @parameterized.expand([
-    # TODO: test EventName.startup for release branches
-
-    # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-
-    # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-
-    # unrecognized car with no fw
-    (EventName.startupNoFw, None, None, ""),
-    (EventName.startupNoFw, None, None, ""),
-
-    # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-
-    # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  ])
-  @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
-
-    # TODO: this should be done without any real sockets
-    controls_sock = messaging.sub_sock("controlsState")
-    pm = messaging.PubMaster(['can', 'pandaStates'])
-
-    params = Params()
-    params.clear_all()
-    params.put_bool("Passive", False)
-    params.put_bool("OpenpilotEnabledToggle", True)
-
-    # Build capnn version of FW array
-    if fw_versions is not None:
-      car_fw = []
-      cp = car.CarParams.new_message()
-      for ecu, addr, subaddress, version in fw_versions:
-        f = car.CarParams.CarFw.new_message()
-        f.ecu = ecu
-        f.address = addr
-        f.fwVersion = version
-        f.brand = brand
-
-        if subaddress is not None:
-          f.subAddress = subaddress
-
-        car_fw.append(f)
-      cp.carVin = "1" * 17
-      cp.carFw = car_fw
-      params.put("CarParamsCache", cp.to_bytes())
-
-    time.sleep(2) # wait for controlsd to be ready
-
-    pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
-    time.sleep(0.1)
-
-    msg = messaging.new_message('pandaStates', 1)
-    msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-    pm.send('pandaStates', msg)
-
-    # fingerprint
-    if (car_model is None) or (fw_versions is not None):
-      finger = {addr: 1 for addr in range(1, 100)}
-    else:
-      finger = _FINGERPRINTS[car_model][0]
-
-    for _ in range(1000):
-      # controlsd waits for boardd to echo back that it has changed the multiplexing mode
-      if not params.get_bool("ObdMultiplexingChanged"):
-        params.put_bool("ObdMultiplexingChanged", True)
-
-      msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
-      pm.send('can', can_list_to_can_capnp(msgs))
-
-      time.sleep(0.01)
-      msgs = messaging.drain_sock(controls_sock)
-      if len(msgs):
-        event_name = msgs[0].controlsState.alertType.split("/")[0]
-        self.assertEqual(EVENT_NAME[expected_event], event_name,
-                         f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
-        break
-    else:
-      self.fail(f"failed to fingerprint {car_model}")
-
-if __name__ == "__main__":
-  unittest.main()
+
+@parameterized.expand([
+  # TODO: test EventName.startup for release branches
+
+  # officially supported car
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+
+  # dashcamOnly car
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+
+  # unrecognized car with no fw
+  (EventName.startupNoFw, None, None, ""),
+  (EventName.startupNoFw, None, None, ""),
+
+  # unrecognized car
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+
+  # fuzzy match
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+])
+def test_startup_alert(expected_event, car_model, fw_versions, brand):
+  controls_sock = messaging.sub_sock("controlsState")
+  pm = messaging.PubMaster(['can', 'pandaStates'])
+
+  params = Params()
+  params.put_bool("OpenpilotEnabledToggle", True)
+
+  # Build capnn version of FW array
+  if fw_versions is not None:
+    car_fw = []
+    cp = car.CarParams.new_message()
+    for ecu, addr, subaddress, version in fw_versions:
+      f = car.CarParams.CarFw.new_message()
+      f.ecu = ecu
+      f.address = addr
+      f.fwVersion = version
+      f.brand = brand
+
+      if subaddress is not None:
+        f.subAddress = subaddress
+
+      car_fw.append(f)
+    cp.carVin = "1" * 17
+    cp.carFw = car_fw
+    params.put("CarParamsCache", cp.to_bytes())
+  else:
+    os.environ['SKIP_FW_QUERY'] = '1'
+
+  managed_processes['controlsd'].start()
+
+  assert pm.wait_for_readers_to_update('can', 5)
+  pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+
+  assert pm.wait_for_readers_to_update('pandaStates', 5)
+  msg = messaging.new_message('pandaStates', 1)
+  msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+  pm.send('pandaStates', msg)
+
+  # fingerprint
+  if (car_model is None) or (fw_versions is not None):
+    finger = {addr: 1 for addr in range(1, 100)}
+  else:
+    finger = _FINGERPRINTS[car_model][0]
+
+  msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
+  for _ in range(1000):
+    # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+    if not params.get_bool("ObdMultiplexingChanged"):
+      params.put_bool("ObdMultiplexingChanged", True)
+
+    pm.send('can', can_list_to_can_capnp(msgs))
+    assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
+
+    ctrls = messaging.drain_sock(controls_sock)
+    if len(ctrls):
+      event_name = ctrls[0].controlsState.alertType.split("/")[0]
+      assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
+      break
+  else:
+    raise Exception(f"failed to fingerprint {car_model}")

selfdrive/debug/can_print_changes.py

@@ -7,8 +7,7 @@ from typing import Optional
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.debug.can_table import can_table
-from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
 CLEAR = '\033[0m'
@@ -104,8 +103,8 @@ if __name__ == "__main__":
     if args.init == '':
       init_lr = []
     else:
-      init_lr = SegmentRangeReader(args.init)
+      init_lr = LogReader(args.init)
   if args.comp:
-    new_lr = SegmentRangeReader(args.comp)
+    new_lr = LogReader(args.comp)
 
   can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)

selfdrive/debug/count_events.py

@@ -7,7 +7,7 @@ from pprint import pprint
 from typing import List, Tuple, cast
 
 from cereal.services import SERVICE_LIST
-from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 if __name__ == "__main__":
   cnt_valid: Counter = Counter()
@@ -20,7 +20,7 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for msg in SegmentRangeReader(sys.argv[1], ReadMode.QLOG):
+  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)
 

selfdrive/debug/cycle_alerts.py

@@ -54,7 +54,7 @@ def cycle_alerts(duration=200, is_metric=False):
   CS = car.CarState.new_message()
   CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                            'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                             'managerState'] + cameras)
 
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import argparse
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+from panda.python import uds
+
+
+def main(route: str, addrs: list[int]):
+  """
+  TODO:
+  - highlight TX vs RX clearly
+  - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128)
+  - print as fixed width table, easier to read
+  """
+
+  lr = LogReader(route, default_mode=ReadMode.RLOG)
+
+  start_mono_time = None
+  prev_mono_time = 0
+
+  # include rx addresses
+  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs]
+
+  for msg in lr:
+    if msg.which() == 'can':
+      if start_mono_time is None:
+        start_mono_time = msg.logMonoTime
+
+    if msg.which() in ("can", 'sendcan'):
+      for can in getattr(msg, msg.which()):
+        if can.address in addrs:
+          if msg.logMonoTime != prev_mono_time:
+            print()
+            prev_mono_time = msg.logMonoTime
+          print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
+                f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
+  parser.add_argument('route', help='Route name')
+  parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)')
+  args = parser.parse_args()
+
+  addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
+  main(args.route, addrs)