d357e2fd-5ecd-4264-b281-c1deb7c16f03/400 and rebase

3 weeks ago · 93b26a91a6
parent c3add4f521 ae3b74245f
commit 93b26a91a6
36 changed files with 328 additions and 341 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -162,7 +162,8 @@ jobs:
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
--- a/README.md
+++ b/README.md
@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca
 | `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
 | `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
 | `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
-| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |

 To start developing openpilot
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,5 +1,7 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!

 Version 0.10.0 (2025-08-05)
 ========================
@ -10,7 +12,6 @@ Version 0.10.0 (2025-08-05)
     * Action from lateral MPC as training objective replaced by E2E planning from World Model
  * Low-speed lead car ground-truth fixes
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button
 * Opt-in audio recording for dashcam video
 * Acura MDX 2025 support thanks to vanillagorillaa and MVL!
 * Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 319 Supported Cars
+# 321 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|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -76,10 +76,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 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 comma 3X<br>- 1 comma power v3<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?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|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 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu

 ### Getting Started

-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*

-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

 And if you have a comma 3/3X, we'll deploy the change to your device for testing.

-## 1. Setup your development environment
+## 1. Set up your development environment

 Run this to clone openpilot and install all the dependencies:
 ```bash
--- a/launch_env.sh
+++ b/launch_env.sh
@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.7"
+  export AGNOS_VERSION="12.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 74bfaa2c750f2eca584dd6b58c1b862ba59d29d8
+Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec
+Subproject commit 3dc21386239e3073a623156b75901aa302340d6c
--- a/release/README.md
+++ b/release/README.md
@ -3,33 +3,34 @@
 ```
 ## release checklist

-**Go to `devel-staging`**
- [ ] make issue to track release
+### Go to staging
+- [ ] make a GitHub issue to track release
+- [ ] create release master branch
 - [ ] update RELEASES.md
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
 - [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`

-**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request, test the following:
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
+### Go to release
+- [ ] before going to release, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
-  - [ ] stress test in production
-
-**Go to `release3`**
+  - [ ] stress test passes in production
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
- [ ] close out milestone
+- [ ] close out milestone and issue
 - [ ] post on Discord, X, etc.
 ```
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@ -30,6 +30,7 @@ git reset --hard __nightly
 git checkout __nightly
 git reset --hard origin/devel
 git clean -xdff
+git submodule foreach --recursive git clean -xdff
 git lfs uninstall

 # remove everything except .git
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -102,15 +102,12 @@ class ModelState:

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)

    # policy inputs
    self.numpy_inputs = {
      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

@ -143,7 +140,6 @@ class ModelState:
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@ -169,11 +165,6 @@ class ModelState:
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@ -292,7 +283,6 @@ def main(demo=False):
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@ -325,7 +315,6 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
    }

    mt1 = time.perf_counter()
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11c845933f9cd9cdea0563441c7d323cc5ceffafc14b9986115036dc121456ec
-size 15583374
+oid sha256:a629089e37bcc78d0fbb78edffe25de1c62658cec9e8faff8b4e5c029176df60
+size 12343523
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
+oid sha256:13117c848af25b9c5ff2363b32e039a7061f7a72cee8d39611b6fb12bebee056
+size 46271991
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@ -22,9 +22,10 @@ class Parser:
    self.ignore_missing = ignore_missing

  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
      raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing

  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
    if self.check_missing(outs, name):
@ -84,6 +85,13 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@ -94,23 +102,17 @@ class Parser:
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -238,7 +238,10 @@ class SelfdriveD:
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # Check for excessive actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
    if self.sm.updated['liveCalibration']:
      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
    if self.sm.updated['livePose']:
@ -253,6 +256,7 @@ class SelfdriveD:

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************

    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -61,7 +61,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body"]
+excluded_interfaces = ["mock", "body", "psa"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -333,20 +333,18 @@ class TestOnroad:
            assert np.all(eof_sof_diff > 0)
            assert np.all(eof_sof_diff < 50*1e6)

-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"

        # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10

-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
          diff = (max(ts.values()) - min(ts.values()))
--- a/selfdrive/ui/feedback/feedbackd.py
+++ b/selfdrive/ui/feedback/feedbackd.py
@ -22,7 +22,8 @@ def main():
    sm.update()
    should_send_bookmark = False

-    if sm.updated['carState'] and sm['carState'].canValid:
+    # TODO: https://github.com/commaai/openpilot/issues/36015
+    if False and sm.updated['carState'] and sm['carState'].canValid:
      for be in sm['carState'].buttonEvents:
        if be.type == ButtonType.lkas:
          if be.pressed:
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@ -23,10 +23,6 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
-  "RecordAudioFeedback": (
-    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
-    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
-  ),
 }


@ -85,12 +81,6 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
-      toggle_item(
-        "Record Audio Feedback with LKAS button",
-        DESCRIPTIONS["RecordAudioFeedback"],
-        self._params.get_bool("RecordAudioFeedback"),
-        icon="microphone.png",
-      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@ -187,9 +187,9 @@ class ModelRenderer(Widget):
      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
    )

-    self._update_experimental_gradient(self._rect.height)
+    self._update_experimental_gradient()

-  def _update_experimental_gradient(self, height):
+  def _update_experimental_gradient(self):
    """Pre-calculate experimental mode gradient colors"""
    if not self._experimental_mode:
      return
@ -201,22 +201,21 @@ class ModelRenderer(Widget):

    i = 0
    while i < max_len:
-      track_idx = max_len - i - 1  # flip idx to start from bottom right
-      track_y = self._path.projected_points[track_idx][1]
-      if track_y < 0 or track_y > height:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
        i += 1
        continue

-      # Calculate color based on acceleration
-      lin_grad_point = (height - track_y) / height
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height

      # speed up: 120, slow down: 0
-      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
-      path_hue = int(path_hue * 100 + 0.5) / 100
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)

      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
-      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])

      # Use HSL to RGB conversion
      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@ -280,7 +279,7 @@ class ModelRenderer(Widget):

    if self._experimental_mode:
      # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 2:
+      if len(self._exp_gradient['colors']) > 1:
        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
      else:
        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@ -409,13 +408,6 @@ class ModelRenderer(Widget):

    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

-  @staticmethod
-  def _map_val(x, x0, x1, y0, y1):
-    x = np.clip(x, x0, x1)
-    ra = x1 - x0
-    rb = y1 - y0
-    return (x - x0) * rb / ra + y0 if ra != 0 else y0
-
  @staticmethod
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -68,13 +68,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
-    {
-      "RecordAudioFeedback",
-      tr("Record Audio Feedback with LKAS button"),
-      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
-      "../assets/icons/microphone.png",
-      false,
-    },
    {
      "IsMetric",
      tr("Use Metric System"),
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@ -5,6 +5,7 @@ from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes


+@pytest.mark.skip("tmp disabled")
 class TestFeedbackd:
  def setup_method(self):
    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@ -67,17 +67,17 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz",
-    "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b",
-    "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  }
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@ -350,51 +350,51 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz",
-    "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b",
-    "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz",
-    "hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae",
-    "hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
+    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
+    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5"
+    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz",
-    "hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190",
-    "hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
+    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
+    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2"
+    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz",
-    "hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba",
-    "hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
+    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
+    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab"
+    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
  }
 ]
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@ -67,7 +67,8 @@ class MouseEvent(NamedTuple):


 class MouseState:
-  def __init__(self):
+  def __init__(self, scale: float = 1.0):
+    self._scale = scale
    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS

@ -102,8 +103,10 @@ class MouseState:
  def _handle_mouse_event(self):
    for slot in range(MAX_TOUCH_SLOTS):
      mouse_pos = rl.get_touch_position(slot)
+      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
+      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
      ev = MouseEvent(
-        MousePos(mouse_pos.x, mouse_pos.y),
+        MousePos(x, y),
        slot,
        rl.is_mouse_button_pressed(slot),
        rl.is_mouse_button_released(slot),
@ -133,7 +136,7 @@ class GuiApplication:
    self._trace_log_callback = None
    self._modal_overlay = ModalOverlay()

-    self._mouse = MouseState()
+    self._mouse = MouseState(self._scale)
    self._mouse_events: list[MouseEvent] = []

    # Debug variables
--- a/system/ui/lib/shader_polygon.py
+++ b/system/ui/lib/shader_polygon.py
@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
  float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);

  if (gradientColorCount <= 1) return gradientColors[0];
+
+  // handle t before first / after last stop
+  if (t <= gradientStops[0]) return gradientColors[0];
+  if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
  for (int i = 0; i < gradientColorCount - 1; i++) {
    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
 NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8

 TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "12345678"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"


 # NetworkManager device states
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59
+Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):


 class CompressedVipc:
-  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
    print("getting frame sizes")
    os.environ["ZMQ"] = "1"
    messaging.reset_context()
@ -117,7 +117,7 @@ class CompressedVipc:
    os.environ.pop("ZMQ")
    messaging.reset_context()

-    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server = VisionIpcServer(server_name)
    for vst in vision_streams:
      ed = sm[ENCODE_SOCKETS[vst]]
      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@ -144,6 +144,7 @@ if __name__ == "__main__":
  parser.add_argument("addr", help="Address of comma three")
  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
  parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--server", default="camerad", help="choose vipc server name")
  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
  args = parser.parse_args()

@ -154,7 +155,7 @@ if __name__ == "__main__":
  ]

  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))

  # register exit handler
  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
--- a/tools/lib/file_sources.py
+++ b/tools/lib/file_sources.py
@ -0,0 +1,57 @@
+from collections.abc import Callable
+
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
+from openpilot.tools.lib.route import Route, SegmentRange, FileName
+
+# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
+FileNames = tuple[str, ...]
+Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
+
+InternalUnavailableException = Exception("Internal source not available")
+
+
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  route = Route(sr.route_name)
+
+  # comma api will have already checked if the file exists
+  if fns == FileName.RLOG:
+    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
+  else:
+    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
+
+
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+  if not internal_source_available(endpoint_url):
+    raise InternalUnavailableException
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
+
+  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
+
+
+def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
+  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
+  valid_files: dict[int, str] = {}
+
+  for seg_idx, urls in files.items():
+    if isinstance(urls, str):
+      urls = [urls]
+
+    # Add first valid file URL
+    for url in urls:
+      if file_exists(url):
+        valid_files[seg_idx] = url
+        break
+
+  return valid_files
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@ -12,16 +12,15 @@ import urllib.parse
 import warnings
 import zstandard as zstd

-from collections.abc import Callable, Iterable, Iterator
+from collections.abc import Iterable, Iterator
 from typing import cast
 from urllib.parse import parse_qs, urlparse

 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
-from openpilot.tools.lib.route import Route, SegmentRange, FileName
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series

 LogMessage = type[capnp._DynamicStructReader]
@ -40,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
  with open(dest, "wb") as f:
    f.write(dat)

+
 def decompress_stream(data: bytes):
  dctx = zstd.ZstdDecompressor()
  decompressed_data = b""
@ -139,68 +139,15 @@ class ReadMode(enum.StrEnum):
  AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user


-LogPath = str | None
-LogFileName = tuple[str, ...]
-Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
 class LogsUnavailable(Exception):
  pass


-def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
-  route = Route(sr.route_name)
-
-  # comma api will have already checked if the file exists
-  if fns == FileName.RLOG:
-    return {seg: route.log_paths()[seg] for seg in seg_idxs}
-  else:
-    return {seg: route.qlog_paths()[seg] for seg in seg_idxs}
-
-
-def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]:
-  if not internal_source_available(endpoint_url):
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
-
-  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
-
-
-def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
-  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
-
-
-def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
-  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
-
-
 def direct_source(file_or_url: str) -> list[str]:
  return [file_or_url]


-def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]:
-  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
-  valid_files: dict[int, LogPath] = {}
-
-  for seg_idx, urls in files.items():
-    if isinstance(urls, str):
-      urls = [urls]
-
-    # Add first valid file URL or None
-    for url in urls:
-      if file_exists(url):
-        valid_files[seg_idx] = url
-        break
-    else:
-      valid_files[seg_idx] = None
-
-  return valid_files
-
-
+# TODO this should apply to camera files as well
 def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
  exceptions = {}

@ -219,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)

  # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
  # This function only returns when we've sourced all files, or throws an exception
-  valid_files: dict[int, LogPath] = {}
+  valid_files: dict[int, str] = {}
  for fn in try_fns:
    for source in sources:
      try:
        files = source(sr, needed_seg_idxs, fn)

        # Build a dict of valid files
-        for idx, f in files.items():
-          if valid_files.get(idx) is None:
-            valid_files[idx] = f
+        valid_files |= files

        # Don't check for segment files that have already been found
-        needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None]
+        needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]

        # We've found all files, return them
-        if all(f is not None for f in valid_files.values()):
+        if len(needed_seg_idxs) == 0:
          return cast(list[str], list(valid_files.values()))

      except Exception as e:
        exceptions[source.__name__] = e

    if fn == try_fns[0]:
-      missing_logs = list(valid_files.values()).count(None)
+      missing_logs = len(needed_seg_idxs)
      if mode == ReadMode.AUTO:
-        cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
+        cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
      elif mode == ReadMode.AUTO_INTERACTIVE:
-        if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
+        if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
          break

-  missing_logs = list(valid_files.values()).count(None)
-  raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
+  missing_logs = len(needed_seg_idxs)
+  raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
                        "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
                        "Exceptions for sources:\n  - " + "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))

@ -353,6 +298,7 @@ class LogReader:
  def time_series(self):
    return msgs_to_time_series(self)

+
 if __name__ == "__main__":
  import codecs

--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@ -231,7 +231,6 @@ class RouteName:
  def __str__(self) -> str: return self._canonical_name


-
 class SegmentName:
  # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
  # of this class instead of manually constructing a segment name (use canonical_name prop instead)
@ -252,7 +251,7 @@ class SegmentName:
  @property
  def canonical_name(self) -> str: return self._canonical_name

-  #TODO should only use one name
+  # TODO should only use one name
  @property
  def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"

@ -283,7 +282,7 @@ class SegmentName:
  @staticmethod
  def from_file_name(file_name):
    # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
-    dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
+    dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

  @staticmethod
@ -304,6 +303,7 @@ class SegmentName:
    dongle_id, route_name, segment_num = prefix.split("/")
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

+
@cache
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
  try:
@ -365,4 +365,3 @@ class SegmentRange:

  def __repr__(self) -> str:
    return self.__str__()
-
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@ -10,7 +10,8 @@ import requests
 from parameterized import parameterized

 from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
+from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException

@ -40,7 +41,7 @@ def setup_source_scenario(mocker, is_internal=False):
  else:
    internal_source_mock.side_effect = InternalUnavailableException

-  openpilotci_source_mock.return_value = {3: None}
+  openpilotci_source_mock.return_value = {}
  comma_api_source_mock.return_value = {3: QLOG_FILE}

  yield
@ -90,7 +91,7 @@ class TestLogReader:

  @pytest.mark.parametrize("cache_enabled", [True, False])
  def test_direct_parsing(self, mocker, cache_enabled):
-    file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
+    file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
    qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)

@ -208,13 +209,12 @@ class TestLogReader:
      assert qlog_len == log_len

  @pytest.mark.parametrize("is_internal", [True, False])
-  @pytest.mark.slow
  def test_auto_source_scenarios(self, mocker, is_internal):
    lr = LogReader(QLOG_FILE)
    qlog_len = len(list(lr))

    with setup_source_scenario(mocker, is_internal=is_internal):
-      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      lr = LogReader(f"{TEST_ROUTE}/3/q")
      log_len = len(list(lr))
      assert qlog_len == log_len

--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@ -9,12 +9,14 @@ from urllib3.util import Timeout

 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.hardware.hw import Paths
+
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K

 logging.getLogger("urllib3").setLevel(logging.WARNING)

+
 def hash_256(link: str) -> str:
  return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()

@ -24,7 +26,7 @@ class URLFileException(Exception):


 class URLFile:
-  _pool_manager: PoolManager|None = None
+  _pool_manager: PoolManager | None = None

  @staticmethod
  def reset() -> None:
@ -33,16 +35,16 @@ class URLFile:
  @staticmethod
  def pool_manager() -> PoolManager:
    if URLFile._pool_manager is None:
-      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
      retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
      URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
    return URLFile._pool_manager

-  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
+  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
    self._url = url
    self._timeout = Timeout(connect=timeout, read=timeout)
    self._pos = 0
-    self._length: int|None = None
+    self._length: int | None = None
    self._debug = debug
    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@ -58,7 +60,7 @@ class URLFile:
  def __exit__(self, exc_type, exc_value, traceback) -> None:
    pass

-  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
+  def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)

  def get_length_online(self) -> int:
@ -85,7 +87,7 @@ class URLFile:
        file_length.write(str(self._length))
    return self._length

-  def read(self, ll: int|None=None) -> bytes:
+  def read(self, ll: int | None = None) -> bytes:
    if self._force_download:
      return self.read_aux(ll=ll)

@ -117,7 +119,7 @@ class URLFile:
        self._pos = file_end
        return response

-  def read_aux(self, ll: int|None=None) -> bytes:
+  def read_aux(self, ll: int | None = None) -> bytes:
    download_range = False
    headers = {}
    if self._pos != 0 or ll is not None:
@ -152,7 +154,7 @@ class URLFile:
    self._pos += len(ret)
    return ret

-  def seek(self, pos:int) -> None:
+  def seek(self, pos: int) -> None:
    self._pos = pos

  @property
--- a/uv.lock
+++ b/uv.lock
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 [[package]]
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-version = "3.1.2"
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-wheels = [
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