Merge branch 'master' into ffmodel

common/params_keys.h

@@ -8,6 +8,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AdbEnabled", PERSISTENT},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_FirehoseStats", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -36,7 +37,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
-    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},

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="11.9"
+  export AGNOS_VERSION="11.10"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

msgq_repo

@@ -1 +1 @@
-Subproject commit 095f1e23613d47031a9b23e3f9ed5dd3fe01a06e
+Subproject commit ad9020c430362d17c0edf97747d344389234be4d

opendbc_repo

@@ -1 +1 @@
-Subproject commit bc839875bd0ca476be71dea2cbebc92a4544c40c
+Subproject commit 34a109cc7956dbf022f57b6bca2207f2719e25a7

panda

@@ -1 +1 @@
-Subproject commit 2c802449fd51d9904ca265d06b7a5f9969057ae3
+Subproject commit 154b66782ddf4b9293c4594bb5ee8bd9cd88f332

selfdrive/controls/controlsd.py

@@ -40,7 +40,7 @@ class Controls:
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
-    self.steer_limited = False
+    self.steer_limited_by_controls = False
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
@@ -109,11 +109,11 @@ class Controls:
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
-    self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
+    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
-    actuators.curvature = float(self.desired_curvature)
+    actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
-                                                       self.calibrated_pose)  # TODO what if not available
+                                                       self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
@@ -161,10 +161,10 @@ class Controls:
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
-                             STEER_ANGLE_SATURATION_THRESHOLD
+                                              STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
@@ -180,7 +180,7 @@ class Controls:
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = float(self.desired_curvature)
+    cs.desiredCurvature = self.desired_curvature
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,6 @@
 import numpy as np
 from cereal import log
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -7,20 +8,33 @@ CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
+MAX_VEL_ERR = 5.0  # m/s
 
 # EU guidelines
-MAX_LATERAL_JERK = 5.0
+MAX_LATERAL_JERK = 5.0  # m/s^3
-MAX_VEL_ERR = 5.0
+MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
-
+
-def clip_curvature(v_ego, prev_curvature, new_curvature):
+
-  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+def clamp(val, min_val, max_val):
-  v_ego = max(MIN_SPEED, v_ego)
+  clamped_val = float(np.clip(val, min_val, max_val))
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  return clamped_val, clamped_val != val
-  safe_desired_curvature = np.clip(new_curvature,
+
-                                prev_curvature - max_curvature_rate * DT_CTRL,
+
-                                prev_curvature + max_curvature_rate * DT_CTRL)
+def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
-
+  # This function respects ISO lateral jerk and acceleration limits + a max curvature
-  return safe_desired_curvature
+  v_ego = max(v_ego, MIN_SPEED)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2)  # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  new_curvature = np.clip(new_curvature,
+                          prev_curvature - max_curvature_rate * DT_CTRL,
+                          prev_curvature + max_curvature_rate * DT_CTRL)
+
+  roll_compensation = roll * ACCELERATION_DUE_TO_GRAVITY
+  max_lat_accel = MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
+  min_lat_accel = -MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
+  new_curvature, limited_accel = clamp(new_curvature, min_lat_accel / v_ego ** 2, max_lat_accel / v_ego ** 2)
+
+  new_curvature, limited_max_curv = clamp(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  return float(new_curvature), limited_accel or limited_max_curv
 
 
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:

selfdrive/controls/lib/latcontrol.py

@@ -17,14 +17,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
-    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
+    # Saturated only if control output is not being limited by car torque/angle rate limits
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

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, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log

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, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -43,6 +43,6 @@ class LatControlPID(LatControl):
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
       pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -37,7 +37,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -73,7 +73,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
 
-      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -87,7 +87,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -33,7 +33,15 @@ class TestLatControl:
     lp = generate_livePose()
     pose = Pose.from_live_pose(lp.livePose)
 
+    # Saturate for curvature limited and controller limited
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
 
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

selfdrive/selfdrived/selfdrived.py

@@ -328,11 +328,11 @@ class SelfdriveD:
     if lac.active and not recent_steer_pressed and not self.CP.notCar:
       clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED)
       actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
-      desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
+      desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
       undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
       turning = abs(desired_lateral_accel) > 1.0
-      good_speed = CS.vEgo > 5
+      # TODO: lac.saturated includes speed and other checks, should be pulled out
-      if undershooting and turning and good_speed and lac.saturated:
+      if undershooting and turning and lac.saturated:
         self.events.add(EventName.steerSaturated)
 
     # Check for FCW

selfdrive/test/process_replay/migration.py

@@ -358,6 +358,7 @@ def migrate_cameraStates(msgs):
 
     new_msg = messaging.new_message(msg.which())
     new_camera_state = getattr(new_msg, new_msg.which())
+    new_camera_state.sensor = camera_state.sensor
     new_camera_state.frameId = encode_id
     new_camera_state.encodeId = encode_id
     # timestampSof was added later so it might be missing on some old segments

selfdrive/test/process_replay/model_replay.py

@@ -19,8 +19,8 @@ from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils
 
-TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
+TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
-SEGMENT = 6
+SEGMENT = 4
 MAX_FRAMES = 100 if PC else 400
 
 NO_MODEL = "NO_MODEL" in os.environ

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d343af55506b14a4011bfe43b2a49c7e3c387d75
+a9487c6a5c2f0bb83c9d629ff64c8f64a4e4ca13

selfdrive/test/process_replay/regen.py

@@ -12,10 +12,9 @@ from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKE
                                                                    check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
 from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
 from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
-
+from openpilot.tools.lib.openpilotci import get_url
 
 class DummyFrameReader(BaseFrameReader):
   def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
@@ -55,45 +54,28 @@ def regen_segment(
 
 
 def setup_data_readers(
-    route: str, sidx: int, use_route_meta: bool,
+    route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
-    needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
 ) -> tuple[LogReader, dict[str, Any]]:
-  if use_route_meta:
+  lr = LogReader(f"{route}/{sidx}/r")
-    r = Route(route)
+  frs = {}
-    lr = LogReader(r.log_paths()[sidx])
+  if needs_road_cam:
-    frs = {}
+    frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
-    if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
+      frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
-    if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+  if needs_driver_cam:
-      frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if dummy_driver_cam:
-    if needs_driver_cam:
+      frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
-      if dummy_driver_cam:
+    else:
-        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
-      elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+      assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
-        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
-        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
-        frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
-  else:
-    lr = LogReader(f"{route}/{sidx}/r")
-    frs = {}
-    if needs_road_cam:
-      frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
-      if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-        frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
-    if needs_driver_cam:
-      if dummy_driver_cam:
-        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
-      else:
-        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
-        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
-        frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
   return lr, frs
 
 
 def regen_and_save(
   route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
-  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
+  upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
 ) -> str:
   if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
     raise ValueError("whitelist_proc must be a string or iterable")
@@ -110,7 +92,7 @@ def regen_and_save(
     replayed_processes = CONFIGS
 
   all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
-  lr, frs = setup_data_readers(route, sidx, use_route_meta,
+  lr, frs = setup_data_readers(route, sidx,
                                needs_driver_cam="driverCameraState" in all_vision_pubs,
                                needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
                                dummy_driver_cam=dummy_driver_cam)

selfdrive/test/process_replay/regen_all.py

@@ -17,7 +17,7 @@ def regen_job(segment, upload, disable_tqdm):
     sn = SegmentName(segment[1])
     fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload,
                             outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '

selfdrive/test/process_replay/test_processes.py

@@ -42,22 +42,22 @@ source_segments = [
 
 segments = [
   ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
-  ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
+  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
   ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
-  ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
+  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
   ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
   ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
-  ("HONDA", "regenC8F0D6ADC5C|2024-08-30--02-54-01--0"),
+  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
   ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
   ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
   ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
-  ("SUBARU", "regenAA1FF48CF1F|2024-08-30--03-06-45--0"),
+  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
   ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
   ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
   ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
+  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
 ]
 

selfdrive/ui/qt/offroad/firehose.cc

@@ -10,6 +10,9 @@
 #include <QScrollArea>
 #include <QStackedLayout>
 #include <QProgressBar>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QTimer>
 
 FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
   layout = new QVBoxLayout(this);
@@ -28,7 +31,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
   content_layout->setSpacing(20);
 
   // Top description
-  QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode."));
+  QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."));
   description->setStyleSheet("font-size: 45px; padding-bottom: 20px;");
   description->setWordWrap(true);
   content_layout->addWidget(description);
@@ -40,41 +43,16 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
   line->setStyleSheet("background-color: #444444; margin-top: 5px; margin-bottom: 5px;");
   content_layout->addWidget(line);
 
-  enable_firehose = new ParamControl("FirehoseMode", tr("Enable Firehose Mode"), "", "");
+  toggle_label = new QLabel(tr("Firehose Mode: ACTIVE"));
+  toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: white;");
+  content_layout->addWidget(toggle_label);
 
-  content_layout->addWidget(enable_firehose);
+  // Add contribution label
-
+  contribution_label = new QLabel();
-  // Create progress bar container
+  contribution_label->setStyleSheet("font-size: 52px; margin-top: 10px; margin-bottom: 10px;");
-  progress_container = new QFrame();
+  contribution_label->setWordWrap(true);
-  progress_container->hide();
+  contribution_label->hide();
-  QHBoxLayout *progress_layout = new QHBoxLayout(progress_container);
+  content_layout->addWidget(contribution_label);
-  progress_layout->setContentsMargins(10, 0, 10, 10);
-  progress_layout->setSpacing(20);
-
-  progress_bar = new QProgressBar();
-  progress_bar->setRange(0, 100);
-  progress_bar->setValue(0);
-  progress_bar->setTextVisible(false);
-  progress_bar->setStyleSheet(R"(
-    QProgressBar {
-      background-color: #444444;
-      border-radius: 10px;
-      height: 20px;
-    }
-    QProgressBar::chunk {
-      background-color: #3498db;
-      border-radius: 10px;
-    }
-  )");
-  progress_bar->setFixedHeight(40);
-
-  // Progress text
-  progress_text = new QLabel(tr("0%"));
-  progress_text->setStyleSheet("font-size: 40px; font-weight: bold; color: white;");
-
-  progress_layout->addWidget(progress_text);
-
-  content_layout->addWidget(progress_container);
 
   // Add a separator before detailed instructions
   QFrame *line2 = new QFrame();
@@ -85,22 +63,49 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
 
   // Detailed instructions at the bottom
   detailed_instructions = new QLabel(tr(
-    "Follow these steps to get your device ready:<br>"
+    "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br>"
-    "\t1. Bring your device inside and connect to a good USB-C adapter<br>"
-    "\t2. Connect to Wi-Fi<br>"
-    "\t3. Enable the toggle<br>"
-    "\t4. Leave it connected for at least 30 minutes<br>"
     "<br>"
-    "The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness."
+    "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br>"
-    "<br><br><b>FAQ</b><br>"
+    "<br><br>"
-    "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br>"
+    "<b>Frequently Asked Questions</b><br><br>"
-    "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br>"
+    "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br>"
-    "<i>Do I need to be on Wi-Fi?</i> Yes.<br>"
+    "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br>"
-    "<i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br>"
+    "<i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training."
   ));
-  detailed_instructions->setStyleSheet("font-size: 40px; padding: 20px; color: #E4E4E4;");
+  detailed_instructions->setStyleSheet("font-size: 40px; color: #E4E4E4;");
   detailed_instructions->setWordWrap(true);
   content_layout->addWidget(detailed_instructions);
 
   layout->addWidget(content, 1);
+
+  // Set up the API request for firehose stats
+  const QString dongle_id = QString::fromStdString(Params().get("DongleId"));
+  firehose_stats = new RequestRepeater(this, CommaApi::BASE_URL + "/v1/devices/" + dongle_id + "/firehose_stats",
+                                       "ApiCache_FirehoseStats", 30, true);
+  QObject::connect(firehose_stats, &RequestRepeater::requestDone, [=](const QString &response, bool success) {
+    if (success) {
+      QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+      QJsonObject json = doc.object();
+      int count = json["firehose"].toInt();
+      contribution_label->setText(tr("<b>%1 %2</b> of your driving are in the training dataset so far.").arg(count).arg(count == 1 ? "segment" : "segments"));
+      contribution_label->show();
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &FirehosePanel::refresh);
+}
+
+void FirehosePanel::refresh() {
+  auto deviceState = (*uiState()->sm)["deviceState"].getDeviceState();
+  auto networkType = deviceState.getNetworkType();
+  bool networkMetered = deviceState.getNetworkMetered();
+
+  bool is_active = !networkMetered && (networkType != cereal::DeviceState::NetworkType::NONE);
+  if (is_active) {
+    toggle_label->setText(tr("ACTIVE"));
+    toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: #2ecc71;");
+  } else {
+    toggle_label->setText(tr("<span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network"));
+    toggle_label->setStyleSheet("font-size: 60px;");
+  }
 }

selfdrive/ui/qt/offroad/firehose.h

@@ -2,10 +2,8 @@
 
 #include <QWidget>
 #include <QVBoxLayout>
-#include <QProgressBar>
 #include <QLabel>
-#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/request_repeater.h"
-#include "common/params.h"
 
 // Forward declarations
 class SettingsWindow;
@@ -17,12 +15,13 @@ public:
 
 private:
   QVBoxLayout *layout;
-  
+
-  ParamControl *enable_firehose;
-  QFrame *progress_container;
-  QProgressBar *progress_bar;
-  QLabel *progress_text;
   QLabel *detailed_instructions;
-  
+  QLabel *contribution_label;
-  void updateFirehoseState(bool enabled);
+  QLabel *toggle_label;
+
+  RequestRepeater *firehose_stats;
+
+private slots:
+  void refresh();
 };

selfdrive/ui/translations/main_pt-BR.ts

@@ -309,25 +309,27 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 Mode Firehose 🔥</translation>
     </message>
     <message>
         <source>Enable Firehose Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Habilitar Modo Firehose</translation>
     </message>
     <message>
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>O openpilot aprende a dirigir observando humanos, como você, dirigirem.
+
+O Modo Firehose permite maximizar o envio de seus dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores e um Modo Experimental melhor.</translation>
     </message>
     <message>
         <source>0%</source>
-        <translation type="unfinished">5G {0%?}</translation>
+        <translation>5G {0%?}</translation>
     </message>
     <message>
         <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>Siga estes passos para preparar seu dispositivo:&lt;br&gt;	1. Leve o dispositivo para dentro e conecte-o a um bom adaptador USB-C&lt;br&gt;	2. Conecte-se ao Wi-Fi&lt;br&gt;	3. Ative a opção&lt;br&gt;	4. Deixe-o conectado por pelo menos 30 minutos&lt;br&gt;&lt;br&gt;A opção será desativada quando você reiniciar o dispositivo. Repita esse processo pelo menos uma vez por semana para obter a máxima eficácia.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;i&gt;O que é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de celular ou laptop deve servir..&lt;br&gt;&lt;i&gt;Preciso estar conectado ao Wi-Fi?&lt;/i&gt; Sim.&lt;br&gt;&lt;i&gt;Preciso levar o dispositivo para dentro de casa?&lt;/i&gt; Não, você pode ativar a opção enquanto estiver estacionado, mas seus envios serão limitados pela bateria do carro.&lt;br&gt;</translation>
     </message>
 </context>
 <context>
@@ -668,7 +670,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehose</translation>
     </message>
 </context>
 <context>
@@ -1146,15 +1148,15 @@ Isso pode levar até um minuto.</translation>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>Abrir</translation>
     </message>
     <message>
         <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>Maximize seus envios de dados de treinamento para melhorar os modelos de direção do openpilot.</translation>
     </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Mode Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>

system/athena/athenad.py

@@ -508,10 +508,6 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return Params().get("GithubUsername", encoding='utf8') or ''
 
-@dispatcher.add_method
-def getFirehoseMode() -> bool:
-  return Params().get_bool("FirehoseMode") or False
-
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()

system/hardware/tici/agnos.json

@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img.xz",
-    "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
+    "hash": "e4872f4132111b7b28586d978dd01bb48ffa031e103d029ebede7613c1bc2aa6",
-    "hash_raw": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+    "hash_raw": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
     "size": 4404019200,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
+    "ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e",
     "alt": {
-      "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+      "hash": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img",
       "size": 4404019200
     }
   }

system/hardware/tici/all-partitions.json

@@ -350,51 +350,51 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img.xz",
-    "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
+    "hash": "e4872f4132111b7b28586d978dd01bb48ffa031e103d029ebede7613c1bc2aa6",
-    "hash_raw": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+    "hash_raw": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
     "size": 4404019200,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
+    "ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e",
     "alt": {
-      "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+      "hash": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img",
       "size": 4404019200
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-16c037fa42ee99bc6ec92909efc8a8075a0e8a0232a7d90e39e7d40a7bd0ee8e.img.xz",
-    "hash": "b77b66ae8178519dbd72443ff7bdd21b97d0d4d76425472bedc7d369958de37b",
+    "hash": "c6fb215f2b297f7ff5b8f133bc5d687772b37f2fee42a44aa730e37a84a14e52",
-    "hash_raw": "fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a",
+    "hash_raw": "16c037fa42ee99bc6ec92909efc8a8075a0e8a0232a7d90e39e7d40a7bd0ee8e",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "52d2b8e2486e7fa0cdeb2a6512a8058db43544c905367a2e1b81a5ad4636d4b7"
+    "ondevice_hash": "7199262f209abbb07be5eece505ac4d4c7ba8957f2d9ff7b1ac1ef2063461665"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-62c2c41470282b581ec1bbbe0375fb3b6c66df2f4bc3dc6c6fdf796f1797f136.img.xz",
-    "hash": "cc24b1c78234f92cd8ef66541f3fb8924719fc4b7f42c26e26eb71ec21cd2e93",
+    "hash": "d66f894436fa11d4ff00f8a84e54d9e23a6492b0087f69bb958d2ab0bdc6dfba",
-    "hash_raw": "1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307",
+    "hash_raw": "62c2c41470282b581ec1bbbe0375fb3b6c66df2f4bc3dc6c6fdf796f1797f136",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "80bf38b8b60ea1ef1fc0849af4e18bf114761f98f5371476e2f762d0f8463204"
+    "ondevice_hash": "f1d3685618f6d1bde24ce6109284c5d30ece2f4fd015be67e8b52ef7e06067a4"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-3e71d8804c90a6dff5048edb976149f9ea177efa139dea47cb585cef76b26f6e.img.xz",
-    "hash": "657b052cf6434ef19ff73bdeaf5b2511e5c42f64594ae37bac467a12b4cd673f",
+    "hash": "1b201ecbd0e1573777811bf18fa90cb080bfbccb34a6dcfd39b412632e7ca699",
-    "hash_raw": "6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6",
+    "hash_raw": "3e71d8804c90a6dff5048edb976149f9ea177efa139dea47cb585cef76b26f6e",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "6437e5a5b7144103952950f2f59f8e70b98cd26ee5bfb06cbd0a13b2e2f343b7"
+    "ondevice_hash": "47c28e63209556442cd9d2fd06a6c0e7fcf35c8a4e4fbcc550b9c089429ad0e0"
   }
 ]

tools/cabana/dbc/generate_dbc_json.py

@@ -7,7 +7,7 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS
 
 
-def generate_dbc_json() -> str:
+def generate_dbc_dict() -> dict[str, str]:
   dbc_map = {}
   for platform in PLATFORMS.values():
     if platform != "MOCK":
@@ -24,7 +24,7 @@ def generate_dbc_json() -> str:
     if MIGRATION[m] in dbc_map:
       dbc_map[m] = dbc_map[MIGRATION[m]]
 
-  return json.dumps(dict(sorted(dbc_map.items())), indent=2)
+  return dbc_map
 
 
 if __name__ == "__main__":
@@ -35,5 +35,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_dbc_json())
+    f.write(json.dumps(dict(sorted(generate_dbc_dict().items())), indent=2))
   print(f"Generated and written to {args.out}")

tools/car_porting/examples/find_segments_with_message.ipynb

@@ -0,0 +1,279 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 30,
+   "id": "228a6736-de31-4255-9d72-a6ff391b968d",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Found 221 qualifying vehicles:\n"
+     ]
+    }
+   ],
+   "source": [
+    "from opendbc.car import structs\n",
+    "from opendbc.car.values import PLATFORMS\n",
+    "\n",
+    "print(f\"Found {len(PLATFORMS)} qualifying vehicles:\")\n",
+    "# for platform in PLATFORMS:\n",
+    "#   print(f\"  {platform}\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 31,
+   "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Collecting segments from commaCarSegments dataset:\n",
+      "No segments available for for DODGE_DURANGO\n",
+      "No segments available for for FORD_RANGER_MK2\n",
+      "No segments available for for HOLDEN_ASTRA\n",
+      "No segments available for for CADILLAC_ATS\n",
+      "No segments available for for CHEVROLET_MALIBU\n",
+      "No segments available for for CADILLAC_XT4\n",
+      "No segments available for for CHEVROLET_VOLT_2019\n",
+      "No segments available for for CHEVROLET_TRAVERSE\n",
+      "No segments available for for GMC_YUKON\n",
+      "No segments available for for HONDA_ODYSSEY_CHN\n",
+      "No segments available for for HYUNDAI_KONA_2022\n",
+      "No segments available for for HYUNDAI_NEXO_1ST_GEN\n",
+      "No segments available for for GENESIS_GV70_ELECTRIFIED_1ST_GEN\n",
+      "No segments available for for GENESIS_G80_2ND_GEN_FL\n",
+      "No segments available for for RIVIAN_R1_GEN1\n",
+      "No segments available for for SUBARU_FORESTER_HYBRID\n",
+      "No segments available for for TESLA_MODEL_3\n",
+      "No segments available for for TESLA_MODEL_Y\n",
+      "No segments available for for TOYOTA_RAV4_PRIME\n",
+      "No segments available for for TOYOTA_SIENNA_4TH_GEN\n",
+      "No segments available for for LEXUS_LC_TSS2\n",
+      "No segments available for for VOLKSWAGEN_CADDY_MK3\n",
+      "No segments available for for VOLKSWAGEN_CRAFTER_MK2\n",
+      "No segments available for for VOLKSWAGEN_JETTA_MK6\n",
+      "Collected 577 segments for analysis\n"
+     ]
+    }
+   ],
+   "source": [
+    "import random\n",
+    "\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
+    "\n",
+    "database = get_comma_car_segments_database()\n",
+    "TEST_SEGMENTS = []\n",
+    "\n",
+    "MAX_SEGS_PER_PLATFORM = 3  # Increase this to search more segments\n",
+    "\n",
+    "print(\"Collecting segments from commaCarSegments dataset:\")\n",
+    "for platform in TEST_PLATFORMS:\n",
+    "  if platform not in database:\n",
+    "    print(f\"No segments available for for {platform}\")\n",
+    "    continue\n",
+    "  \n",
+    "  all_segments = database[platform]\n",
+    "\n",
+    "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
+    "\n",
+    "  # print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n",
+    "  TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
+    "\n",
+    "print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Match found in d753e5427226080e/2023-12-30--10-14-03/9/s for CHRYSLER PACIFICA HYBRID 2018\n",
+      "Match found in 810855dc1450c716/2023-12-26--10-03-20/3/s for CHRYSLER PACIFICA HYBRID 2018\n",
+      "Match found in 7f268b92fc672c4d/2023-11-02--20-54-34/103/s for CHRYSLER PACIFICA HYBRID 2018\n",
+      "Match found in 1a10807c60c127fd/2023-12-09--19-21-30/49/s for CHRYSLER PACIFICA HYBRID 2019\n",
+      "Match found in b70b56b76a6217f2/2023-12-26--12-29-24/4/s for CHRYSLER PACIFICA HYBRID 2019\n",
+      "Match found in 86deeb65f10c3129/2023-12-29--07-38-12/179/s for CHRYSLER PACIFICA HYBRID 2019\n",
+      "Match found in 0a3e89f78b1d0071/2023-11-30--10-33-13/13/s for CHRYSLER PACIFICA 2018\n",
+      "Match found in 8fc6a1b72c8b1357/2023-11-30--17-35-04/10/s for CHRYSLER PACIFICA 2018\n",
+      "Match found in d5de6f3e9371e89e/2023-11-16--17-19-54/48/s for CHRYSLER PACIFICA 2018\n",
+      "Match found in 5fc1717be83fc0da/2024-01-03--13-16-03/27/s for CHRYSLER PACIFICA 2020\n",
+      "Match found in c1feb10d20626c65/2023-12-16--17-46-24/9/s for CHRYSLER PACIFICA 2020\n",
+      "Match found in c1feb10d20626c65/2023-11-21--17-40-18/25/s for CHRYSLER PACIFICA 2020\n",
+      "Match found in a63a23c3e628f288/2023-11-05--18-36-20/22/s for JEEP GRAND CHEROKEE V6 2018\n",
+      "Match found in 46b21f1c5f7aa885/2023-11-14--15-22-04/21/s for JEEP GRAND CHEROKEE V6 2018\n",
+      "Match found in a63a23c3e628f288/2023-12-13--09-15-47/27/s for JEEP GRAND CHEROKEE V6 2018\n",
+      "Match found in 4ffe7a3fb831a625/2024-01-04--09-15-33/22/s for JEEP GRAND CHEROKEE 2019\n",
+      "Match found in c5b49919572d2c5a/2023-12-17--15-54-06/73/s for JEEP GRAND CHEROKEE 2019\n",
+      "Match found in 9c2b832d06f93621/2024-01-25--13-52-19/8/s for JEEP GRAND CHEROKEE 2019\n",
+      "Match found in 1618132d68afc876/2023-11-24--10-21-12/4/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "Match found in 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN\n",
+      "Match found in 1618132d68afc876/2023-11-24--10-21-12/3/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "Match found in df7fdd56970d90fe/2023-12-29--07-48-56/53/s for HYUNDAI IONIQ 6 2023\n",
+      "Match found in 0ad7facc77922c3e/2023-12-29--17-12-45/14/s for HYUNDAI IONIQ 6 2023\n",
+      "Match found in 0ad7facc77922c3e/2023-12-16--08-49-13/39/s for HYUNDAI IONIQ 6 2023\n",
+      "Match found in 78ad5150de133637/2023-09-13--16-15-57/0/s for KIA K8 HYBRID 1ST GEN\n",
+      "Match found in 78ad5150de133637/2023-09-13--16-15-57/2/s for KIA K8 HYBRID 1ST GEN\n",
+      "Match found in 78ad5150de133637/2023-09-13--16-15-57/1/s for KIA K8 HYBRID 1ST GEN\n",
+      "Match found in b153671049a867b3/2023-12-15--20-40-16/0/s for KIA NIRO EV 2ND GEN\n",
+      "Match found in b153671049a867b3/2024-01-12--17-43-31/2/s for KIA NIRO EV 2ND GEN\n",
+      "Match found in b153671049a867b3/2023-12-03--21-08-30/3/s for KIA NIRO EV 2ND GEN\n",
+      "Match found in 7387ab2a564c6d9f/2023-12-02--07-10-34/52/s for KIA NIRO HYBRID 2ND GEN\n",
+      "Match found in 7387ab2a564c6d9f/2024-01-06--16-24-36/1/s for KIA NIRO HYBRID 2ND GEN\n",
+      "Match found in 7387ab2a564c6d9f/2024-01-06--16-24-36/9/s for KIA NIRO HYBRID 2ND GEN\n",
+      "Match found in 2efdac7dc41207f1/2023-12-27--07-24-22/89/s for KIA EV6 2022\n",
+      "Match found in 5ac586afbb236b5d/2023-12-05--18-23-10/7/s for VOLKSWAGEN ARTEON 1ST GEN\n",
+      "Match found in c34ef43981b6d888/2024-01-18--16-00-06/9/s for VOLKSWAGEN ARTEON 1ST GEN\n",
+      "Match found in 5ac586afbb236b5d/2024-01-04--20-01-19/4/s for VOLKSWAGEN ARTEON 1ST GEN\n",
+      "Match found in 16758e226aa2f747/2023-12-16--10-24-39/13/s for VOLKSWAGEN ATLAS 1ST GEN\n",
+      "Match found in 3174d252cec3bf6f/2023-12-12--18-39-06/6/s for VOLKSWAGEN ATLAS 1ST GEN\n",
+      "Match found in e80066d826c705a9/2024-01-06--17-28-45/211/s for VOLKSWAGEN ATLAS 1ST GEN\n",
+      "Match found in 2cdded3a5da75b6a/2024-01-06--13-37-16/2/s for VOLKSWAGEN GOLF 7TH GEN\n",
+      "Match found in abe0b7fe730c51a9/2023-10-30--14-24-49/4/s for VOLKSWAGEN GOLF 7TH GEN\n",
+      "Match found in 8fe9ced03c94e256/2023-12-14--16-31-55/8/s for VOLKSWAGEN GOLF 7TH GEN\n",
+      "Match found in a97d27ce2a78958a/2024-01-09--06-57-35/9/s for VOLKSWAGEN JETTA 7TH GEN\n",
+      "Match found in 0649d406184b7131/2024-01-20--14-43-41/3/s for VOLKSWAGEN JETTA 7TH GEN\n",
+      "Match found in 0649d406184b7131/2023-11-07--16-30-10/17/s for VOLKSWAGEN JETTA 7TH GEN\n",
+      "Match found in 5405cac0c9d58c3d/2023-11-05--17-13-17/6/s for VOLKSWAGEN PASSAT 8TH GEN\n",
+      "Match found in 2d7d87433a67c925/2024-01-05--16-31-16/38/s for VOLKSWAGEN PASSAT 8TH GEN\n",
+      "Match found in 2d7d87433a67c925/2023-12-26--08-44-17/2/s for VOLKSWAGEN PASSAT 8TH GEN\n",
+      "Match found in 0cd0b7f7e31a3853/2021-11-03--19-30-22/0/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 0bbe367c98fa1538/2023-07-01--19-42-26/7/s for VOLKSWAGEN POLO 6TH GEN\n",
+      "Match found in 0cd0b7f7e31a3853/2021-11-03--19-30-22/2/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/1/s for VOLKSWAGEN TAOS 1ST GEN\n",
+      "Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/0/s for VOLKSWAGEN TAOS 1ST GEN\n",
+      "Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/2/s for VOLKSWAGEN TAOS 1ST GEN\n",
+      "Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/0/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/2/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/1/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 4e144f64a2535890/2023-12-05--12-22-10/5/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
+      "Match found in 1b5cf3b409037cc4/2023-12-11--10-23-35/5/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
+      "Match found in 1b41980e9972d348/2023-10-29--15-13-08/3/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
+      "Match found in a589dcc642fdb10a/2021-06-14--20-54-26/0/s for VOLKSWAGEN TOURAN 2ND GEN\n",
+      "Match found in a589dcc642fdb10a/2021-06-14--20-54-26/2/s for VOLKSWAGEN TOURAN 2ND GEN\n",
+      "Match found in a589dcc642fdb10a/2021-06-14--20-54-26/1/s for VOLKSWAGEN TOURAN 2ND GEN\n",
+      "Match found in 207b9d7ee3fb513a/2023-12-19--14-59-25/14/s for VOLKSWAGEN TRANSPORTER T6.1\n",
+      "Match found in a459f4556782eba1/2023-11-05--17-16-20/22/s for VOLKSWAGEN TRANSPORTER T6.1\n",
+      "Match found in a459f4556782eba1/2023-11-27--12-27-58/47/s for VOLKSWAGEN TRANSPORTER T6.1\n",
+      "Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/0/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/1/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/2/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in a973e9182bc96a2c/2024-01-14--15-14-33/54/s for AUDI A3 3RD GEN\n",
+      "Match found in 23daff6c438612d2/2023-12-21--15-37-32/22/s for AUDI A3 3RD GEN\n",
+      "Match found in 23daff6c438612d2/2024-01-17--09-31-14/20/s for AUDI A3 3RD GEN\n",
+      "Match found in 6c6b466346192818/2021-06-06--14-17-47/0/s for AUDI Q2 1ST GEN\n",
+      "Match found in 6c6b466346192818/2021-06-06--14-17-47/1/s for AUDI Q2 1ST GEN\n",
+      "Match found in 6c6b466346192818/2021-06-06--14-17-47/2/s for AUDI Q2 1ST GEN\n",
+      "Match found in 839125529d3c3cdf/2023-11-29--15-49-50/56/s for AUDI Q3 2ND GEN\n",
+      "Match found in d7bfab70d5011e1d/2023-11-24--00-49-14/24/s for AUDI Q3 2ND GEN\n",
+      "Match found in 98a3015c4f16846d/2023-11-04--12-32-32/76/s for AUDI Q3 2ND GEN\n",
+      "Match found in fc6b6c9a3471c846/2021-05-27--13-39-56/2/s for SEAT LEON 3RD GEN\n",
+      "Match found in fc6b6c9a3471c846/2021-05-27--13-39-56/1/s for SEAT LEON 3RD GEN\n",
+      "Match found in aef9c04d6ec5cd57/2023-07-15--16-49-38/12/s for SEAT LEON 3RD GEN\n",
+      "Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/2/s for VOLKSWAGEN POLO 6TH GEN\n",
+      "Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/1/s for VOLKSWAGEN POLO 6TH GEN\n",
+      "Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/0/s for VOLKSWAGEN POLO 6TH GEN\n",
+      "Match found in 026b6d18fba6417f/2021-03-26--09-17-04/0/s for SKODA SCALA 1ST GEN\n",
+      "Match found in 026b6d18fba6417f/2021-03-26--09-17-04/1/s for SKODA SCALA 1ST GEN\n",
+      "Match found in 026b6d18fba6417f/2021-03-26--09-17-04/2/s for SKODA SCALA 1ST GEN\n",
+      "Match found in 12d6ae3057c04b0d/2021-09-04--21-21-21/1/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 12d6ae3057c04b0d/2021-09-04--21-21-21/0/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 7d76baac7cf42e15/2024-01-13--03-42-46/2/s for SKODA KAROQ 1ST GEN\n",
+      "Match found in 8a5da7c1d1783730/2024-01-17--06-32-18/4/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 8a5da7c1d1783730/2023-12-23--16-48-07/42/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 2ca49a03c8084514/2023-12-27--08-54-31/4/s for SKODA KODIAQ 1ST GEN\n",
+      "Match found in 66e5edc3a16459c5/2021-05-25--19-00-29/1/s for SKODA OCTAVIA 3RD GEN\n",
+      "Match found in f5392228324cda8d/2023-10-29--14-05-24/120/s for SKODA OCTAVIA 3RD GEN\n",
+      "Match found in 3fa7570f2fcace3d/2023-11-11--07-57-34/1/s for SKODA OCTAVIA 3RD GEN\n",
+      "Match found in 54ada937747ef8ca/2023-11-09--16-13-28/12/s for SKODA SUPERB 3RD GEN\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Match found in 54ada937747ef8ca/2023-12-14--08-14-41/8/s for SKODA SUPERB 3RD GEN\n",
+      "Match found in 54ada937747ef8ca/2023-11-16--06-01-05/7/s for SKODA SUPERB 3RD GEN\n",
+      "Analysis finished\n"
+     ]
+    }
+   ],
+   "source": [
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "\n",
+    "message_to_check = 0x3c0  # Volkswagen CAN ignition message\n",
+    "\n",
+    "segment_count = len(TEST_SEGMENTS)\n",
+    "for idx, segment in enumerate(TEST_SEGMENTS):\n",
+    "  lr = LogReader(segment)\n",
+    "  CP = lr.first(\"carParams\")\n",
+    "  if CP is None:\n",
+    "    continue\n",
+    "\n",
+    "  can_packets = [msg for msg in lr if msg.which() == \"can\"]\n",
+    "\n",
+    "  # print(f\"Evaluating segment {idx} of {segment_count} for {CP.carFingerprint}\")\n",
+    "\n",
+    "  matched_segments = {}\n",
+    "  for packet in can_packets:\n",
+    "    for msg in packet.can:\n",
+    "      if msg.address == message_to_check:\n",
+    "        matched_segments.update({segment: CP.carFingerprint})\n",
+    "\n",
+    "  if segment in matched_segments:\n",
+    "    print(f\"Match found in {segment} for {CP.carFingerprint}\")\n",
+    "\n",
+    "print(f\"Analysis finished\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "7724dd97-f62e-4fd3-9f64-63d49be669d2",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9f393e00-8efd-40fb-a41e-d312531a83e8",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "openpilot",
+   "language": "python",
+   "name": "openpilot"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.0"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

tools/plotjuggler/juggle.py

@@ -13,6 +13,7 @@ from functools import partial
 from opendbc.car.fingerprints import MIGRATION
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
+from openpilot.tools.cabana.dbc.generate_dbc_json import generate_dbc_dict
 from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
@@ -90,11 +91,10 @@ def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
   if dbc is None:
     try:
       CP = lr.first('carParams')
-      platform = CP.carFingerprint
+      platform = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
-      DBC = __import__(f"opendbc.car.{CP.brand}.values", fromlist=['DBC']).DBC
+      dbc = generate_dbc_dict()[platform]
-      dbc = DBC[MIGRATION.get(CP.carFingerprint, CP.carFingerprint)]['pt']
     except Exception:
-      cloudlog.error("Failed to get DBC name from logs!")
+      cloudlog.exception("Failed to get DBC name from logs!")
 
   with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
     save_log(tmp.name, all_data, compress=False)

tools/tuning/measure_steering_accuracy.py

@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited:
+            if steer_limited_by_controls:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1

uv.lock

@@ -4279,7 +4279,7 @@ wheels = [
 
 [[package]]
 name = "pytest"
-version = "8.3.4"
+version = "8.3.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
@@ -4287,9 +4287,9 @@ dependencies = [
     { name = "packaging" },
     { name = "pluggy" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/05/35/30e0d83068951d90a01852cb1cef56e5d8a09d20c7f511634cc2f7e0372a/pytest-8.3.4.tar.gz", hash = "sha256:965370d062bce11e73868e0335abac31b4d3de0e82f4007408d242b4f8610761", size = 1445919 }
+sdist = { url = "https://files.pythonhosted.org/packages/ae/3c/c9d525a414d506893f0cd8a8d0de7706446213181570cdbd766691164e40/pytest-8.3.5.tar.gz", hash = "sha256:f4efe70cc14e511565ac476b57c279e12a855b11f48f212af1080ef2263d3845", size = 1450891 }
 wheels = [
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