Merge remote-tracking branch 'upstream/master' into fw_query_consistent

.github/workflows/docs.yaml

@@ -32,7 +32,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Build docs
       run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html"
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
 
     - uses: actions/checkout@v4
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'

.github/workflows/selfdrive_tests.yaml

@@ -208,20 +208,30 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      id: run-replay
       timeout-minutes: 30
       run: |
-        ${{ env.RUN }} "CI=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --long-diff && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v3
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
       with:
         name: ${{ github.job }}
-    - name: Upload reference logs
-      if: ${{ failure() && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' \
-                        pytest -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --upload-only"
 
   regen:
     name: regen

.gitignore

@@ -46,7 +46,6 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out

.gitmodules

@@ -13,6 +13,9 @@
 [submodule "body"]
   path = body
   url = ../../commaai/body.git
+[submodule "teleoprtc_repo"]
+  path = teleoprtc_repo
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/geohot/tinygrad.git

.pre-commit-config.yaml

@@ -26,7 +26,7 @@ repos:
     rev: v2.2.6
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
@@ -39,12 +39,12 @@ repos:
         language: system
         types: [python]
         args: ['--explicit-package-bases', '--local-partial-types']
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.1.6
     hooks:
     -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck

Jenkinsfile

@@ -14,7 +14,8 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
-export PYTEST_ADDOPTS="-c selfdrive/test/pytest-tici.ini --rootdir ."
+# only use 1 thread for tici tests since most require HIL
+export PYTEST_ADDOPTS="-n 0"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
@@ -157,7 +158,7 @@ node {
       // tici tests
       'onroad tests': {
         deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
-          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
@@ -233,9 +234,8 @@ node {
       'car tests': {
         pcStage("car tests") {
           sh label: "build", script: "selfdrive/manager/build.py"
-          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-              pytest -n auto --dist=loadscope selfdrive/car/tests/test_models.py"
-          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n auto --dist=load selfdrive/car/tests/test_car_interfaces.py"
+          sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=100 INTERNAL_SEG_CNT=250 FILEREADER_CACHE=1 \
+              INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py"
         }
       },
 

RELEASES.md

@@ -1,5 +1,9 @@
-Version 0.9.6 (2023-XX-XX)
+Version 0.9.6 (2023-12-14)
 ========================
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Toyota RAV4 2023 support
+* Toyota RAV4 Hybrid 2023 support
 
 Version 0.9.5 (2023-11-17)
 ========================

cereal

@@ -1 +1 @@
-Subproject commit 2cb2bfb0154874775e56715ecf81f0e6b00538e9
+Subproject commit d11688a90a1cebacb3fe00dcfbba5f27551b2d89

common/basedir.py

@@ -1,4 +1,4 @@
 import os
 
 
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

common/file_helpers.py

@@ -4,16 +4,6 @@ import tempfile
 from atomicwrites import AtomicWriter
 
 
-def mkdirs_exists_ok(path):
-  if path.startswith(('http://', 'https://')):
-    raise ValueError('URL path')
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
 def rm_not_exists_ok(path):
   try:
     os.remove(path)

common/kalman/simple_kalman.py

@@ -9,4 +9,4 @@ def get_kalman_gain(dt, A, C, Q, R, iterations=100):
     S = C.dot(P).dot(C.T) + R
     K = P.dot(C.T).dot(np.linalg.inv(S))
     P = (np.eye(len(P)) - K.dot(C)).dot(P)
-  return K
+  return K

common/params.cc

@@ -114,7 +114,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},

common/params.h

@@ -10,6 +10,7 @@ enum ParamKeyType {
   CLEAR_ON_ONROAD_TRANSITION = 0x08,
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
+  DEVELOPMENT_ONLY = 0x40,
   ALL = 0xFFFFFFFF
 };
 

common/params_pyx.pyx

@@ -11,6 +11,7 @@ cdef extern from "common/params.h":
     CLEAR_ON_MANAGER_START
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
+    DEVELOPMENT_ONLY
     ALL
 
   cdef cppclass c_Params "Params":

common/prefix.py

@@ -21,7 +21,6 @@ class OpenpilotPrefix:
     except FileExistsError:
       pass
     os.makedirs(Paths.log_root(), exist_ok=True)
-    os.makedirs(Paths.download_cache_root(), exist_ok=True)
 
     return self
 

common/retry.py

@@ -0,0 +1,30 @@
+import time
+import functools
+
+from openpilot.common.swaglog import cloudlog
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          cloudlog.exception(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        cloudlog.error(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator
+
+
+if __name__ == "__main__":
+  @retry(attempts=10)
+  def abc():
+    raise ValueError("abc failed :(")
+  abc()

common/time.py

@@ -3,4 +3,4 @@ import datetime
 MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > MIN_DATE

common/xattr.py

@@ -1,46 +0,0 @@
-import os
-from cffi import FFI
-from typing import Any, List
-
-# Workaround for the EON/termux build of Python having os.*xattr removed.
-ffi = FFI()
-ffi.cdef("""
-int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
-ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
-ssize_t listxattr(const char *path, char *list, size_t size);
-int removexattr(const char *path, const char *name);
-""")
-libc = ffi.dlopen(None)
-
-def setxattr(path, name, value, flags=0) -> None:
-  path = path.encode()
-  name = name.encode()
-  if libc.setxattr(path, name, value, len(value), flags) == -1:
-    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
-
-def getxattr(path, name, size=128):
-  path = path.encode()
-  name = name.encode()
-  value = ffi.new(f"char[{size}]")
-  l = libc.getxattr(path, name, value, size)
-  if l == -1:
-    # errno 61 means attribute hasn't been set
-    if ffi.errno == 61:
-      return None
-    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
-  return ffi.buffer(value)[:l]
-
-def listxattr(path, size=128) -> List[Any]:
-  path = path.encode()
-  attrs = ffi.new(f"char[{size}]")
-  l = libc.listxattr(path, attrs, size)
-  if l == -1:
-    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
-  # attrs is b'\0' delimited values (so chop off trailing empty item)
-  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
-
-def removexattr(path, name) -> None:
-  path = path.encode()
-  name = name.encode()
-  if libc.removexattr(path, name) == -1:
-    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")

conftest.py

@@ -6,6 +6,12 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.hardware import TICI
 
 
+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture():
   starting_env = dict(os.environ)
@@ -45,13 +51,14 @@ def pytest_collection_modifyitems(config, items):
       item.add_marker(skipper)
 
     if "xdist_group_class_property" in item.keywords:
-      class_property = item.get_closest_marker('xdist_group_class_property').args[0]
-      item.add_marker(pytest.mark.xdist_group(getattr(item.cls, class_property)))
+      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
+      class_property_value = getattr(item.cls, class_property_name)
+      item.add_marker(pytest.mark.xdist_group(class_property_value))
 
 
 @pytest.hookimpl(trylast=True)
 def pytest_configure(config):
-    config_line = (
-        "xdist_group_class_property: group tests by a property of the class that contains them"
-    )
-    config.addinivalue_line("markers", config_line)
+  config_line = (
+    "xdist_group_class_property: group tests by a property of the class that contains them"
+  )
+  config.addinivalue_line("markers", config_line)

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.
 
-# 268 Supported Cars
+# 271 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
@@ -73,6 +73,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
@@ -98,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -107,8 +108,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
 |Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
@@ -143,7 +144,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
@@ -236,10 +237,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -273,7 +276,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 

docs/c_docs.rst

@@ -29,8 +29,6 @@ camerad
 ^^^^^^^
 .. autodoxygenindex::
    :project: system_camerad_cameras
-.. autodoxygenindex::
-   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
@@ -43,12 +41,6 @@ ui
 .. autodoxygenindex::
    :project: selfdrive_ui
 
-soundd
-""""""
-.. autodoxygenindex::
-   :project: selfdrive_ui_soundd
-
-
 replay
 """"""
 .. autodoxygenindex::

launch_chffrplus.sh

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

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="8.2"
+  export AGNOS_VERSION="9.1"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc

@@ -1 +1 @@
-Subproject commit 2b96bcc45669cdd14f9c652b07ef32d6403630f6
+Subproject commit 93b983d49a2d6d5c67e15ce7650f55e4f121485d

panda

@@ -1 +1 @@
-Subproject commit b50455cc76a0f66aa6faf953dd3ea023783a4b3f
+Subproject commit a88fe8c883758951ba2854eb2f6726d5365df099

poetry.lock

@@ -112,66 +112,39 @@ ifaddr = ">=0.2.0"
 
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 name = "aiortc"
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+version = "1.6.0"
 description = "An implementation of WebRTC and ORTC"
 optional = false
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+    {file = "aiortc-1.6.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:0a41f4c0b31e45548e7c7397ef1aecc4be49ab68afd8fa134c07581fe0b3a9c2"},
+    {file = "aiortc-1.6.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:64a9939016edbc8f300de6189983c983753827813ac9acd9b5be8ce61cc32684"},
+    {file = "aiortc-1.6.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:813e7985665c94a0e3387b66e39dba6c751e5e588aedbca06d7e52068c6e37fb"},
+    {file = "aiortc-1.6.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:672d0b4ad35c4d8f014f44a142aa55529ec82cfe2809226e1275e35a71fd4422"},
+    {file = "aiortc-1.6.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1526a1904174bb11958b8f7e93f01f37f80df2190e5089f0501984bdef79595e"},
+    {file = "aiortc-1.6.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:cecfa5f462e73218cadc9acd8013cb3a0d9007a4515bceba6e7755d77bb80061"},
+    {file = "aiortc-1.6.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:febca6773de18a6bb9e5569ae87c8be55ed184695f1f9fc99aa4744a7b0375f8"},
+    {file = "aiortc-1.6.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b5ba865be9708713397ec584ed1baeb2f15d2fa9c32594ce19a41ffa6e2517cb"},
+    {file = "aiortc-1.6.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9759a3c00e46ba1c3499dbf5a8513ae37ba65b940a56b0e7fa5070478e9379f"},
+    {file = "aiortc-1.6.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9cff7868663d9d1c74e237b86e45126022466240439a5f63c3440e3acdf0305b"},
+    {file = "aiortc-1.6.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9f20479d0dd06116ac81d332850fab874d83b561a73fd7252d218f55c6bd5b79"},
+    {file = "aiortc-1.6.0.tar.gz", hash = "sha256:08cffbcde3401b33731b1d4169b9ff860b0aaaca200b62e10ce5978238671ad7"},
 ]
 
 [package.dependencies]
 aioice = ">=0.9.0,<1.0.0"
-av = ">=9.0.0,<11.0.0"
+av = ">=9.0.0,<12.0.0"
 cffi = ">=1.0.0"
 cryptography = ">=2.2"
 google-crc32c = ">=1.1"
@@ -180,7 +153,7 @@ pylibsrtp = ">=0.5.6"
 pyopenssl = ">=23.1.0"
 
 [package.extras]
-dev = ["aiohttp (>=3.7.0)", "coverage (>=5.0)", "numpy (>=1.19.0)"]
+dev = ["aiohttp (>=3.7.0)", "coverage[toml] (>=7.2.2)", "numpy (>=1.19.0)"]
 
 [[package]]
 name = "aiosignal"
@@ -3336,8 +3309,6 @@ files = [
     {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
     {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
     {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@@ -3746,18 +3717,18 @@ colorama = "*"
 pytest = ">=7.0"
 
 [[package]]
-name = "pytest-random-order"
-version = "1.1.0"
-description = "Randomise the order in which pytest tests are run with some control over the randomness"
+name = "pytest-randomly"
+version = "3.15.0"
+description = "Pytest plugin to randomly order tests and control random.seed."
 optional = false
-python-versions = ">=3.5.0"
+python-versions = ">=3.8"
 files = [
-    {file = "pytest-random-order-1.1.0.tar.gz", hash = "sha256:dbe6debb9353a7af984cc9eddbeb3577dd4dbbcc1529a79e3d21f68ed9b45605"},
-    {file = "pytest_random_order-1.1.0-py3-none-any.whl", hash = "sha256:6cb1e59ab0f798bb0c3488c11ae0c70d7d3340306a466d28b28ccd8ef8c20b7e"},
+    {file = "pytest_randomly-3.15.0-py3-none-any.whl", hash = "sha256:0516f4344b29f4e9cdae8bce31c4aeebf59d0b9ef05927c33354ff3859eeeca6"},
+    {file = "pytest_randomly-3.15.0.tar.gz", hash = "sha256:b908529648667ba5e54723088edd6f82252f540cc340d748d1fa985539687047"},
 ]
 
 [package.dependencies]
-pytest = ">=3.0.0"
+pytest = "*"
 
 [[package]]
 name = "pytest-subtests"
@@ -5038,4 +5009,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676"
+content-hash = "7f7244a89280a41937066ebf80aa64fcb375852484c9d034ea7f2de3eae4d90a"

pyproject.toml

@@ -24,6 +24,7 @@ testpaths = [
   "system/proclogd",
   "system/tests",
   "system/ubloxd",
+  "system/webrtc",
   "tools/lib/tests",
   "tools/replay",
   "tools/cabana"
@@ -43,6 +44,8 @@ exclude = [
   "rednose_repo/",
   "tinygrad/",
   "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
   "third_party/",
 ]
 
@@ -148,7 +151,7 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
-pytest-random-order = "*"
+pytest-randomly = "*"
 ruff = "*"
 scipy = "*"
 sphinx = "*"
@@ -178,7 +181,7 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
+ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
@@ -186,6 +189,8 @@ exclude = [
   "opendbc",
   "rednose_repo",
   "tinygrad_repo",
+  "teleoprtc",
+  "teleoprtc_repo",
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
@@ -197,4 +202,4 @@ flake8-implicit-str-concat.allow-multiline=false
 "tools".msg = "Use openpilot.tools"
 
 [tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
+concurrency = ["multiprocessing", "thread"]

release/build_devel.sh

@@ -22,6 +22,7 @@ pre-commit uninstall || true
 
 echo "[-] bringing master-ci and devel in sync T=$SECONDS"
 cd $TARGET_DIR
+
 git fetch --depth 1 origin master-ci
 git fetch --depth 1 origin devel
 

release/files_common

@@ -21,24 +21,8 @@ openpilot/**
 
 common/.gitignore
 common/__init__.py
-common/conversions.py
-common/gpio.py
-common/realtime.py
-common/timeout.py
-common/ffi_wrapper.py
-common/file_helpers.py
-common/logging_extra.py
-common/numpy_fast.py
-common/params.py
-common/params_pyx.pyx
-common/profiler.py
-common/basedir.py
-common/dict_helpers.py
-common/filter_simple.py
-common/stat_live.py
-common/spinner.py
-common/text_window.py
-common/time.py
+common/*.py
+common/*.pyx
 
 common/kalman/.gitignore
 common/kalman/*
@@ -76,7 +60,6 @@ selfdrive/statsd.py
 
 system/logmessaged.py
 system/micd.py
-system/swaglog.py
 system/version.py
 
 selfdrive/athena/__init__.py
@@ -281,6 +264,12 @@ system/sensord/sensors/*.cc
 system/sensord/sensors/*.h
 system/sensord/pigeond.py
 
+system/webrtc/__init__.py
+system/webrtc/webrtcd.py
+system/webrtc/schema.py
+system/webrtc/device/audio.py
+system/webrtc/device/video.py
+
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
@@ -291,19 +280,14 @@ selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
 selfdrive/test/test_time_to_onroad.py
-selfdrive/test/pytest-tici.ini
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
 selfdrive/ui/*.cc
 selfdrive/ui/*.h
-selfdrive/ui/ui
 selfdrive/ui/text
 selfdrive/ui/spinner
-selfdrive/ui/soundd/*.cc
-selfdrive/ui/soundd/*.h
-selfdrive/ui/soundd/soundd
-selfdrive/ui/soundd/.gitignore
+selfdrive/ui/soundd.py
 selfdrive/ui/translations/*.ts
 selfdrive/ui/translations/languages.json
 selfdrive/ui/update_translations.py
@@ -333,12 +317,11 @@ system/camerad/main.cc
 system/camerad/snapshot/*
 system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
-system/camerad/cameras/sensor2_i2c.h
-
-system/camerad/imgproc/conv.cl
-system/camerad/imgproc/pool.cl
-system/camerad/imgproc/utils.cc
-system/camerad/imgproc/utils.h
+system/camerad/sensors/ar0231.cc
+system/camerad/sensors/ar0231_registers.h
+system/camerad/sensors/ox03c10.cc
+system/camerad/sensors/ox03c10_registers.h
+system/camerad/sensors/sensor.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
@@ -444,6 +427,8 @@ third_party/qt5/larch64/bin/**
 scripts/update_now.sh
 scripts/stop_updater.sh
 
+teleoprtc/**
+
 rednose_repo/site_scons/site_tools/rednose_filter.py
 rednose/.gitignore
 rednose/**

scripts/apply-pr.sh

@@ -8,4 +8,4 @@ fi
 BASE="https://github.com/commaai/openpilot/pull/"
 PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
 
-curl -L $BASE/$PR_NUM.patch | git apply
+curl -L $BASE/$PR_NUM.patch | git apply -3

scripts/build_small.sh

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

scripts/retry.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+function fail {
+  echo $1 >&2
+  exit 1
+}
+
+function retry {
+  local n=1
+  local max=3 # 3 retries before failure
+  local delay=5 # delay between retries, 5 seconds
+  while true; do
+    echo "Running command '$@' with retry, attempt $n/$max"
+    "$@" && break || {
+      if [[ $n -lt $max ]]; then
+        ((n++))
+        sleep $delay;
+      else
+        fail "The command has failed after $n attempts."
+      fi
+    }
+  done
+}
+
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+    retry "$@"
+fi

selfdrive/athena/athenad.py

@@ -36,14 +36,11 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
 from openpilot.system.hardware.hw import Paths
 
 
-# TODO: use socket constant when mypy recognizes this as a valid attribute
-TCP_USER_TIMEOUT = 18
-
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
@@ -760,7 +757,7 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
     if onroad != onroad_prev:
       onroad_prev = onroad
 
-      sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)

selfdrive/athena/manage_athenad.py

@@ -5,7 +5,7 @@ from multiprocessing import Process
 
 from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"

selfdrive/athena/registration.py

@@ -12,7 +12,7 @@ from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"

selfdrive/athena/tests/test_athenad.py

@@ -46,8 +46,6 @@ class TestAthenadMethods(unittest.TestCase):
       else:
         os.unlink(p)
 
-    dispatcher["listUploadQueue"]() # ensure queue is empty at start
-
   # *** test helpers ***
 
   @staticmethod

selfdrive/athena/tests/test_athenad_ping.py

@@ -3,8 +3,8 @@ import subprocess
 import threading
 import time
 import unittest
-from typing import Callable, cast, Optional
-from unittest.mock import MagicMock
+from typing import cast, Optional
+from unittest import mock
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -27,8 +27,6 @@ class TestAthenadPing(unittest.TestCase):
   athenad: threading.Thread
   exit_event: threading.Event
 
-  _create_connection: Callable
-
   def _get_ping_time(self) -> Optional[str]:
     return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
 
@@ -38,15 +36,9 @@ class TestAthenadPing(unittest.TestCase):
   def _received_ping(self) -> bool:
     return self._get_ping_time() is not None
 
-  @classmethod
-  def setUpClass(cls) -> None:
-    cls._create_connection = athenad.create_connection
-    athenad.create_connection = MagicMock(wraps=cls._create_connection)
-
   @classmethod
   def tearDownClass(cls) -> None:
     wifi_radio(True)
-    athenad.create_connection = cls._create_connection
 
   def setUp(self) -> None:
     self.params = Params()
@@ -58,19 +50,18 @@ class TestAthenadPing(unittest.TestCase):
     self.exit_event = threading.Event()
     self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
 
-    athenad.create_connection.reset_mock()
-
   def tearDown(self) -> None:
     if self.athenad.is_alive():
       self.exit_event.set()
       self.athenad.join()
 
-  def assertTimeout(self, reconnect_time: float) -> None:
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True)
+  def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
     time.sleep(1)
-    athenad.create_connection.assert_called_once()
-    athenad.create_connection.reset_mock()
+    mock_create_connection.assert_called_once()
+    mock_create_connection.reset_mock()
 
     # check normal behaviour
     with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
@@ -78,7 +69,7 @@ class TestAthenadPing(unittest.TestCase):
         time.sleep(0.1)
       print("ping received")
 
-    athenad.create_connection.assert_not_called()
+    mock_create_connection.assert_not_called()
 
     # websocket should attempt reconnect after short time
     with self.subTest("LTE: attempt reconnect"):
@@ -86,7 +77,7 @@ class TestAthenadPing(unittest.TestCase):
       print("waiting for reconnect attempt")
       start_time = time.monotonic()
       with Timeout(reconnect_time, "no reconnect attempt"):
-        while not athenad.create_connection.called:
+        while not mock_create_connection.called:
           time.sleep(0.1)
         print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
 

selfdrive/boardd/boardd.cc

@@ -1,11 +1,5 @@
 #include "selfdrive/boardd/boardd.h"
 
-#include <sched.h>
-#include <sys/cdefs.h>
-#include <sys/resource.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include <algorithm>
 #include <array>
 #include <atomic>
@@ -13,10 +7,6 @@
 #include <cassert>
 #include <cerrno>
 #include <chrono>
-#include <cmath>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
 #include <future>
 #include <memory>
 #include <thread>

selfdrive/boardd/pandad.py

@@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:

selfdrive/boardd/tests/test_pandad.py

@@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()

selfdrive/car/car_helpers.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 

selfdrive/car/disable_ecu.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'

selfdrive/car/ecu_addrs.py

@@ -8,7 +8,7 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 
 def make_tester_present_msg(addr, bus, subaddr=None):

selfdrive/car/ford/values.py

@@ -88,7 +88,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
   ],
   CAR.EXPLORER_MK6: [
-    FordCarInfo("Ford Explorer 2020-22"),
+    FordCarInfo("Ford Explorer 2020-23"),
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
   CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
@@ -185,6 +185,7 @@ FW_VERSIONS = {
       b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -192,6 +193,7 @@ FW_VERSIONS = {
       b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -212,6 +214,8 @@ FW_VERSIONS = {
       b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.F_150_MK14: {

selfdrive/car/fw_versions.py

@@ -12,7 +12,7 @@ from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusTyp
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]

selfdrive/car/hyundai/interface.py

@@ -260,8 +260,7 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
-                                               (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR))
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]

selfdrive/car/hyundai/values.py

@@ -159,7 +159,10 @@ class HyundaiCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.AZERA_HEV_6TH_GEN: [
+    HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  ],
   CAR.ELANTRA: [
     # TODO: 2017-18 could be Hyundai G
     HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
@@ -556,18 +559,23 @@ FW_VERSIONS = {
   CAR.AZERA_HEV_6TH_GEN: {
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+      b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+      b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.HYUNDAI_GENESIS: {
@@ -1132,6 +1140,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1141,17 +1150,20 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
       b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
       b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
       b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3',
     ],
   },
   CAR.PALISADE: {

selfdrive/car/isotp_parallel_query.py

@@ -3,7 +3,7 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 

selfdrive/car/mazda/values.py

@@ -132,6 +132,7 @@ FW_VERSIONS = {
       b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/tests/routes.py

@@ -157,6 +157,7 @@ routes = [
   CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
+  CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
   CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),

selfdrive/car/tests/test_models.py

@@ -3,6 +3,7 @@ import capnp
 import os
 import importlib
 import pytest
+import random
 import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
@@ -49,12 +50,10 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
     with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
       seg_list = f.read().splitlines()
 
-    cnt = INTERNAL_SEG_CNT or len(seg_list)
-    seg_list_iter = iter(seg_list[:cnt])
-
-    for platform in seg_list_iter:
-      platform = platform[2:]  # get rid of comment
-      segment_name = SegmentName(next(seg_list_iter))
+    seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
+    seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped))
+    for platform, segment in seg_list_grouped:
+      segment_name = SegmentName(segment)
       test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
                                                 segment=segment_name.segment_num)))
   return test_cases
@@ -382,7 +381,7 @@ class TestCarModelBase(unittest.TestCase):
 
 
 @parameterized_class(('car_model', 'test_route'), get_test_cases())
-@pytest.mark.xdist_group_class_property('car_model')
+@pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass
 

selfdrive/car/toyota/carcontroller.py

@@ -21,8 +21,8 @@ MAX_USER_TORQUE = 500
 
 # LTA limits
 # EPS ignores commands above this angle and causes PCS to fault
-MAX_STEER_ANGLE = 94.9461  # deg
-MAX_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
+MAX_LTA_ANGLE = 94.9461  # deg
+MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
 
 
 class CarController:
@@ -71,25 +71,32 @@ class CarController:
         apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
         # Angular rate limit based on speed
-        apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)
+        apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params)
 
         if not lat_active:
           apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
-        self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
+        self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE)
 
     self.last_steer = apply_steer
 
-    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
+    # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
     can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req))
+
+    # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
+      # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above
+      # the threshold, to limit max lateral acceleration and for driver torque blending respectively.
       full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
-                               abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
-      setme_x64 = 100 if lta_active and full_torque_condition else 0
-      can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
+                               abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE)
+
+      # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec
+      torque_wind_down = 100 if lta_active and full_torque_condition else 0
+      can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle,
+                                                          lta_active, self.frame // 2, torque_wind_down))
 
     # *** gas and brake ***
     if self.CP.enableGasInterceptor and CC.longActive:

selfdrive/car/toyota/interface.py

@@ -28,12 +28,11 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
     if candidate in ANGLE_CONTROL_CAR:
-      ret.dashcamOnly = True
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
 
       # LTA control can be more delayed and winds up more often
-      ret.steerActuatorDelay = 0.25
+      ret.steerActuatorDelay = 0.18
       ret.steerLimitTimer = 0.8
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

selfdrive/car/toyota/tests/test_toyota.py

@@ -17,6 +17,10 @@ class TestToyotaInterfaces(unittest.TestCase):
     self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
     self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)
 
+  def test_lta_platforms(self):
+    # At this time, only RAV4 2023 is expected to use LTA/angle control
+    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023})
+
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
     # like looking up certain signals only in this DBC

selfdrive/car/toyota/toyotacan.py

@@ -1,3 +1,8 @@
+from cereal import car
+
+SteerControlType = car.CarParams.SteerControlType
+
+
 def create_steer_command(packer, steer, steer_req):
   """Creates a CAN message for the Toyota Steer Command."""
 
@@ -9,15 +14,16 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
+def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
     "COUNTER": frame + 128,
-    "SETME_X1": 1,
-    "SETME_X3": 3,
+    "SETME_X1": 1,  # suspected LTA feature availability
+    # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control
+    "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3,
     "PERCENTAGE": 100,
-    "SETME_X64": setme_x64,
+    "TORQUE_WIND_DOWN": torque_wind_down,
     "ANGLE": 0,
     "STEER_ANGLE_CMD": steer_angle,
     "STEER_REQUEST": steer_req,

selfdrive/car/toyota/values.py

@@ -27,7 +27,8 @@ class CarControllerParams:
   # Assuming a steering ratio of 13.7:
   # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph
   # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph,
-  # however the EPS has its own internal limits at all speeds which are less than that
+  # however the EPS has its own internal limits at all speeds which are less than that:
+  # Observed internal torque rate limit on TSS 2.5 Camry and RAV4 is ~1500 units/sec up and down when using LTA
   ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15])
   ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
 

selfdrive/car/vin.py

@@ -5,7 +5,7 @@ import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.selfdrive.car.fw_query_definitions import StdQueries
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 VIN_UNKNOWN = "0" * 17
 VIN_RE = "[A-HJ-NPR-Z0-9]{17}"

selfdrive/car/volkswagen/values.py

@@ -239,7 +239,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
   CAR.TIGUAN_MK2: [
-    VWCarInfo("Volkswagen Tiguan 2018-23"),
+    VWCarInfo("Volkswagen Tiguan 2018-24"),
     VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
   ],
   CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
@@ -843,6 +843,7 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115K \xf1\x890002',
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8783A907115  \xf1\x890007',
+      b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
@@ -851,6 +852,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158GD\xf1\x893820',
       b'\xf1\x8709G927158GM\xf1\x893936',
       b'\xf1\x8709G927158GN\xf1\x893938',
+      b'\xf1\x8709G927158HB\xf1\x894069',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
@@ -1265,6 +1267,7 @@ FW_VERSIONS = {
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x875NA906259E \xf1\x890003',
+      b'\xf1\x8704E906027LD\xf1\x893433',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
@@ -1275,6 +1278,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300014N \xf1\x892801',
       b'\xf1\x870GC300019H \xf1\x892806',
       b'\xf1\x870GC300046Q \xf1\x892802',
+      b'\xf1\x870D9300014S \xf1\x895201',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
@@ -1284,6 +1288,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
       b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
       b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1299,6 +1304,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
   CAR.SKODA_OCTAVIA_MK3: {

selfdrive/controls/controlsd.py

@@ -13,8 +13,8 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from openpilot.system.swaglog import cloudlog
-from openpilot.system.version import is_release_branch, get_short_branch
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
@@ -64,15 +64,13 @@ class Controls:
 
     # Setup sockets
     self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                   'carControl', 'carEvents', 'carParams'])
+                                   'carControl', 'onroadEvents', 'carParams'])
 
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
-    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
-    self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
-
     self.log_sock = messaging.sub_sock('androidLog')
+    self.can_sock = messaging.sub_sock('can', timeout=20)
 
     self.params = Params()
     ignore = self.sensor_packets + ['testJoystick']
@@ -82,7 +80,7 @@ class Controls:
                                    'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
+                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -90,12 +88,13 @@ class Controls:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch()
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
+    self.joystick_enabled = self.params.get_bool("JoystickDebugMode")
+    self.joystick_mode = self.joystick_enabled or self.CP.notCar
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -115,8 +114,8 @@ class Controls:
     car_recognized = self.CP.carName != 'mock'
 
     controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
-    self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly
-    if self.read_only:
+    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
@@ -133,7 +132,7 @@ class Controls:
     put_nonblocking("CarParamsPersistent", cp_bytes)
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable or is_release_branch():
+    if not self.CP.experimentalLongitudinalAvailable:
       self.params.remove("ExperimentalLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
@@ -179,8 +178,6 @@ class Controls:
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
-    # TODO: no longer necessary, aside from process replay
-    self.sm['liveParameters'].valid = True
     self.can_log_mono_time = 0
 
     self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
@@ -193,7 +190,7 @@ class Controls:
         set_offroad_alert("Offroad_CarUnrecognized", True)
       else:
         set_offroad_alert("Offroad_NoFirmware", True)
-    elif self.read_only:
+    elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
     elif self.joystick_mode:
       self.events.add(EventName.joystickDebug, static=True)
@@ -214,7 +211,7 @@ class Controls:
         self.state = State.enabled
 
   def update_events(self, CS):
-    """Compute carEvents from carState"""
+    """Compute onroadEvents from carState"""
 
     self.events.clear()
 
@@ -229,7 +226,7 @@ class Controls:
       return
 
     # no more events while in dashcam mode
-    if self.read_only:
+    if self.CP.passive:
       return
 
     # Block resume if cruise never previously enabled
@@ -374,16 +371,17 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['lateralPlan'].mpcSolutionValid:
-      self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].posenetOK:
-      self.events.add(EventName.posenetInvalid)
-    if not self.sm['liveLocationKalman'].deviceStable:
-      self.events.add(EventName.deviceFalling)
-    if not self.sm['liveLocationKalman'].inputsOK:
-      self.events.add(EventName.locationdTemporaryError)
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.paramsdTemporaryError)
+    if not (self.CP.notCar and self.joystick_enabled):
+      if not self.sm['lateralPlan'].mpcSolutionValid:
+        self.events.add(EventName.plannerError)
+      if not self.sm['liveLocationKalman'].posenetOK:
+        self.events.add(EventName.posenetInvalid)
+      if not self.sm['liveLocationKalman'].deviceStable:
+        self.events.add(EventName.deviceFalling)
+      if not self.sm['liveLocationKalman'].inputsOK:
+        self.events.add(EventName.locationdTemporaryError)
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+        self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
     if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
@@ -444,7 +442,7 @@ class Controls:
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
-        if not self.read_only:
+        if not self.CP.passive:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
         self.initialized = True
@@ -618,7 +616,7 @@ class Controls:
                                                                                        lat_plan.curvatures,
                                                                                        lat_plan.curvatureRates)
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
+                                                                             self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
       actuators.curvature = self.desired_curvature
     else:
@@ -637,7 +635,7 @@ class Controls:
         if CC.latActive:
           steer = clip(joystick_axes[1], -1, 1)
           # max angle is 45 for angle-based cars, max curvature is 0.02
-          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
+          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02
 
         lac_log.active = self.active
         lac_log.steeringAngleDeg = CS.steeringAngleDeg
@@ -749,7 +747,7 @@ class Controls:
     if current_alert:
       hudControl.visualAlert = current_alert.visual_alert
 
-    if not self.read_only and self.initialized:
+    if not self.CP.passive and self.initialized:
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
@@ -825,16 +823,18 @@ class Controls:
     cs_send.carState.events = car_events
     self.pm.send('carState', cs_send)
 
-    # carEvents - logged every second or on change
+    # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
-      ce_send = messaging.new_message('carEvents', len(self.events))
-      ce_send.carEvents = car_events
-      self.pm.send('carEvents', ce_send)
+      ce_send = messaging.new_message('onroadEvents', len(self.events))
+      ce_send.valid = True
+      ce_send.onroadEvents = car_events
+      self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if (self.sm.frame % int(50. / DT_CTRL) == 0):
       cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
       cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 
@@ -862,7 +862,7 @@ class Controls:
     self.update_events(CS)
     cloudlog.timestamp("Events updated")
 
-    if not self.read_only and self.initialized:
+    if not self.CP.passive and self.initialized:
       # Update control state
       self.state_transition(CS)
       self.prof.checkpoint("State transition")

selfdrive/controls/lib/latcontrol.py

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

selfdrive/controls/lib/latcontrol_angle.py

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

selfdrive/controls/lib/latcontrol_pid.py

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

selfdrive/controls/lib/latcontrol_torque.py

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

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -4,7 +4,7 @@ import time
 import numpy as np
 from cereal import log
 from openpilot.common.numpy_fast import clip
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN

selfdrive/controls/lib/longitudinal_planner.py

@@ -15,7 +15,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -30,13 +30,11 @@ class TestLatControl(unittest.TestCase):
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    last_actuators = car.CarControl.Actuators.new_message()
-
     params = log.LiveParametersData.new_message()
 
     llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk)
 
     self.assertTrue(lac_log.saturated)
 

selfdrive/controls/plannerd.py

@@ -4,7 +4,7 @@ import numpy as np
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner

selfdrive/controls/radard.py

@@ -9,7 +9,7 @@ from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.kalman.simple_kalman import KF1D
 
@@ -270,6 +270,7 @@ class RadarD:
 
     # publish tracks for UI debugging (keep last)
     tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
+    tracks_msg.valid = self.radar_state_valid
     for index, tid in enumerate(sorted(self.tracks.keys())):
       tracks_msg.liveTracks[index] = {
         "trackId": tid,

selfdrive/debug/auto_fingerprint.py

@@ -102,4 +102,4 @@ if __name__ == "__main__":
   if not new_fw_versions:
     print("No new fw versions found...")
 
-  add_fw_versions(brand, platform, new_fw_versions)
+  add_fw_versions(brand, platform, new_fw_versions)

selfdrive/debug/count_events.py

@@ -32,8 +32,8 @@ if __name__ == "__main__":
       end_time = max(end_time, msg.logMonoTime)
       start_time = min(start_time, msg.logMonoTime)
 
-      if msg.which() == 'carEvents':
-        for e in msg.carEvents:
+      if msg.which() == 'onroadEvents':
+        for e in msg.onroadEvents:
           cnt_events[e.name] += 1
       elif msg.which() == 'controlsState':
         if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:

selfdrive/debug/run_process_on_route.py

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

selfdrive/locationd/calibrationd.py

@@ -18,7 +18,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params, put_nonblocking
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
@@ -164,7 +164,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
+      put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
@@ -227,12 +227,13 @@ class Calibrator:
 
     return new_rpy
 
-  def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
+  def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
 
     msg = messaging.new_message('liveCalibration')
-    liveCalibration = msg.liveCalibration
+    msg.valid = valid
 
+    liveCalibration = msg.liveCalibration
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
     liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
@@ -250,19 +251,16 @@ class Calibrator:
 
     return msg
 
-  def send_data(self, pm: messaging.PubMaster) -> None:
-    pm.send('liveCalibration', self.get_msg())
+  def send_data(self, pm: messaging.PubMaster, valid: bool) -> None:
+    pm.send('liveCalibration', self.get_msg(valid))
 
 
-def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
+def main() -> NoReturn:
   gc.disable()
   set_realtime_priority(1)
 
-  if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveCalibration'])
+  pm = messaging.PubMaster(['liveCalibration'])
+  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   calibrator = Calibrator(param_put=True)
 
@@ -286,11 +284,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      calibrator.send_data(pm)
-
-
-def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
-  calibrationd_thread(sm, pm)
+      calibrator.send_data(pm, sm.all_checks())
 
 
 if __name__ == "__main__":

selfdrive/locationd/helpers.py

@@ -5,7 +5,7 @@ from typing import List, Optional, Tuple, Any
 
 from cereal import log
 from openpilot.common.params import Params
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 
 class NPQueue:

selfdrive/locationd/models/car_kf.py

@@ -7,7 +7,7 @@ import numpy as np
 
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 from rednose.helpers.kalmanfilter import KalmanFilter
 

selfdrive/locationd/paramsd.py

@@ -12,7 +12,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s

selfdrive/locationd/test/test_locationd.py

@@ -60,6 +60,7 @@ class TestLocationdProc(unittest.TestCase):
       msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
       msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
     msg.logMonoTime = t
+    msg.valid = True
     return msg
 
   def test_params_gps(self):

selfdrive/locationd/torqued.py

@@ -10,7 +10,7 @@ from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points_onexit
 

selfdrive/manager/build.py

@@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import AGNOS
-from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9

selfdrive/manager/manager.py

@@ -19,7 +19,7 @@ from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_par
 from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                            get_normalized_origin, terms_version, training_version, \
                            is_tested_branch, is_release_branch
@@ -37,6 +37,8 @@ def manager_init() -> None:
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+  if is_release_branch():
+    params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
@@ -169,7 +171,7 @@ def manager_thread() -> None:
     cloudlog.debug(running)
 
     # send managerState
-    msg = messaging.new_message('managerState')
+    msg = messaging.new_message('managerState', valid=True)
     msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
     pm.send('managerState', msg)
 

selfdrive/manager/process.py

@@ -15,7 +15,7 @@ import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None

selfdrive/manager/process_config.py

@@ -60,7 +60,7 @@ procs = [
   PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
+  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -84,6 +84,7 @@ procs = [
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 ]
 

selfdrive/modeld/dmonitoringmodeld.py

@@ -11,7 +11,7 @@ from typing import Tuple, Dict
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
@@ -101,7 +101,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
 
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
-  msg = messaging.new_message('driverStateV2')
+  msg = messaging.new_message('driverStateV2', valid=True)
   ds = msg.driverStateV2
   ds.frameId = frame_id
   ds.modelExecutionTime = execution_time

selfdrive/modeld/modeld.py

@@ -9,7 +9,7 @@ from typing import Dict, Optional
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.numpy_fast import interp

selfdrive/modeld/navmodeld.py

@@ -10,7 +10,7 @@ from typing import Tuple, Dict
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.constants import ModelConstants

selfdrive/monitoring/dmonitoringd.py

@@ -3,7 +3,6 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from cereal import log
 from openpilot.common.params import Params, put_bool_nonblocking
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.controls.lib.events import Events
@@ -19,18 +18,12 @@ def dmonitoringd_thread():
 
   driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
-  sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid
-  sm['liveCalibration'].rpyCalib = [0, 0, 0]
-  sm['carState'].buttonEvents = []
-  sm['carState'].standstill = True
-
   v_cruise_last = 0
   driver_engaged = False
 
   # 10Hz <- dmonitoringmodeld
   while True:
     sm.update()
-
     if not sm.updated['driverStateV2']:
       continue
 
@@ -48,7 +41,9 @@ def dmonitoringd_thread():
 
     # Get data from dmonitoringmodeld
     events = Events()
-    driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+
+    if sm.all_checks():
+      driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
     if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@@ -59,7 +54,7 @@ def dmonitoringd_thread():
     driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState')
+    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
     dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,

selfdrive/navd/navd.py

@@ -15,7 +15,7 @@ from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
                                     parse_banner_instructions)
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@@ -196,7 +196,7 @@ class RouteEngine:
     self.send_route()
 
   def send_instruction(self):
-    msg = messaging.new_message('navInstruction')
+    msg = messaging.new_message('navInstruction', valid=True)
 
     if self.step_idx is None:
       msg.valid = False
@@ -302,7 +302,7 @@ class RouteEngine:
       for path in self.route_geometry:
         coords += [c.as_dict() for c in path]
 
-    msg = messaging.new_message('navRoute')
+    msg = messaging.new_message('navRoute', valid=True)
     msg.navRoute.coordinates = coords
     self.pm.send('navRoute', msg)
 

selfdrive/sentry.py

@@ -6,7 +6,7 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \
                               is_comma_remote, is_dirty, is_tested_branch
 

selfdrive/statsd.py

@@ -10,7 +10,7 @@ from typing import NoReturn, Union, List, Dict
 from openpilot.common.params import Params
 from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty

selfdrive/test/cpp_harness.py

@@ -8,4 +8,4 @@ from openpilot.common.prefix import OpenpilotPrefix
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
+exit(ret)

selfdrive/test/docker_build.sh

@@ -17,7 +17,7 @@ fi
 
 source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
 if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG

selfdrive/test/helpers.py

@@ -71,4 +71,4 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
 
 def noop(*args, **kwargs):
-  pass
+  pass

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -1,10 +1,8 @@
 #!/usr/bin/env python3
 import itertools
-import os
-from parameterized import parameterized_class
 import unittest
+from parameterized import parameterized_class
 
-from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -150,18 +148,6 @@ class LongitudinalControl(unittest.TestCase):
   e2e: bool
   force_decel: bool
 
-  @classmethod
-  def setUpClass(cls):
-    os.environ['SIMULATION'] = "1"
-    os.environ['SKIP_FW_QUERY'] = "1"
-    os.environ['NO_CAN_TIMEOUT'] = "1"
-
-  def setUp(self):
-    params = Params()
-    params.clear_all()
-    params.put_bool("Passive", bool(os.getenv("PASSIVE")))
-    params.put_bool("OpenpilotEnabledToggle", True)
-
   def test_maneuver(self):
     for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
       with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):

selfdrive/test/process_replay/README.md

@@ -31,7 +31,7 @@ optional arguments:
   --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
   --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
   --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
-  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. carEvents)
+  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
   --upload-only                         Skips testing processes and uploads logs from previous test run
 ```

selfdrive/test/process_replay/conftest.py

@@ -1,37 +0,0 @@
-import pytest
-
-from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS
-from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS
-
-
-def pytest_addoption(parser: pytest.Parser):
-  parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS,
-                      help="Whitelist given processes from the test (e.g. controlsd)")
-  parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS,
-                      help="Whitelist given cars from the test (e.g. HONDA)")
-  parser.addoption("--blacklist-procs", type=str, nargs="*", default=[],
-                      help="Blacklist given processes from the test (e.g. controlsd)")
-  parser.addoption("--blacklist-cars", type=str, nargs="*", default=[],
-                      help="Blacklist given cars from the test (e.g. HONDA)")
-  parser.addoption("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
-  parser.addoption("--ignore-msgs", type=str, nargs="*", default=[],
-                      help="Msgs to ignore (e.g. carEvents)")
-  parser.addoption("--update-refs", action="store_true",
-                      help="Updates reference logs using current commit")
-  parser.addoption("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
-  parser.addoption("--long-diff", action="store_true",
-                      help="Outputs diff in long format")
-
-
-@pytest.fixture(scope="class", autouse=True)
-def process_replay_test_arguments(request):
-  if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase
-    request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs")))
-    request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))})
-    request.cls.ignore_fields = request.config.getoption("--ignore-fields")
-    request.cls.ignore_msgs = request.config.getoption("--ignore-msgs")
-    request.cls.upload_only = request.config.getoption("--upload-only")
-    request.cls.update_refs = request.config.getoption("--update-refs")
-    request.cls.long_diff = request.config.getoption("--long-diff")

selfdrive/test/process_replay/helpers.py

@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import unittest
-
-from parameterized import parameterized
-from typing import Optional, Union, List
-
-
-from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process
-from openpilot.system.version import get_commit
-from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
-EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
-
-
-def get_log_data(segment):
-  r, n = segment.rsplit("--", 1)
-  with FileReader(get_url(r, n)) as f:
-    return f.read()
-
-
-ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS})
-PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS}
-
-cpu_count = os.cpu_count() or 1
-
-
-class TestProcessReplayBase(unittest.TestCase):
-  """
-  Base class that replays all processes within test_proceses from a segment,
-  and puts the log messages in self.log_msgs for analysis by other tests.
-  """
-  segment: Optional[Union[str, LogIterable]] = None
-  tested_procs: List[str] = ALL_PROCS
-
-  @classmethod
-  def setUpClass(cls, create_logs=True):
-    if "Base" in cls.__name__:
-      raise unittest.SkipTest("skipping base class")
-
-    if isinstance(cls.segment, str):
-      cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment))
-    else:
-      cls.log_reader = cls.segment
-
-    if create_logs:
-      cls._create_log_msgs()
-
-  @classmethod
-  def _run_replay(cls, cfg):
-    try:
-      return replay_process(cfg, cls.log_reader, disable_progress=True)
-    except Exception as e:
-      raise Exception(f"failed on segment: {cls.segment} \n{e}") from e
-
-  @classmethod
-  def _create_log_msgs(cls):
-    cls.log_msgs = {}
-    cls.proc_cfg = {}
-
-    for proc in cls.tested_procs:
-      cfg = PROC_TO_CFG[proc]
-
-      log_msgs = cls._run_replay(cfg)
-
-      cls.log_msgs[proc] = log_msgs
-      cls.proc_cfg[proc] = cfg
-
-
-class TestProcessReplayDiffBase(TestProcessReplayBase):
-  """
-  Base class for checking for diff between process outputs.
-  """
-  update_refs = False
-  upload_only = False
-  long_diff = False
-  ignore_msgs: List[str] = []
-  ignore_fields: List[str] = []
-
-  def setUp(self):
-    super().setUp()
-    if self.upload_only:
-      raise unittest.SkipTest("skipping test, uploading only")
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass(not cls.upload_only)
-
-    if cls.long_diff:
-      cls.maxDiff = None
-
-    os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
-
-    cls.cur_commit = get_commit()
-    cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit")
-
-    cls.upload = cls.update_refs or cls.upload_only
-
-    try:
-      with open(REF_COMMIT_FN) as f:
-        cls.ref_commit = f.read().strip()
-    except FileNotFoundError:
-      print("Couldn't find reference commit")
-      sys.exit(1)
-
-    cls._create_ref_log_msgs()
-
-  @classmethod
-  def _create_ref_log_msgs(cls):
-    cls.ref_log_msgs = {}
-
-    for proc in cls.tested_procs:
-      cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2")
-      if cls.update_refs:  # reference logs will not exist if routes were just regenerated
-        ref_log_path = get_url(*cls.segment.rsplit("--", 1))
-      else:
-        ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2")
-        ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
-
-      if not cls.upload_only:
-        save_log(cur_log_fn, cls.log_msgs[proc])
-        cls.ref_log_msgs[proc] = list(LogReader(ref_log_path))
-
-      if cls.upload:
-        assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-        upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-        os.remove(cur_log_fn)
-
-  @parameterized.expand(ALL_PROCS)
-  def test_process_diff(self, proc):
-    if proc not in self.tested_procs:
-      raise unittest.SkipTest(f"{proc} was not requested to be tested")
-
-    cfg = self.proc_cfg[proc]
-    log_msgs = self.log_msgs[proc]
-    ref_log_msgs = self.ref_log_msgs[proc]
-
-    diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs)
-
-    diff_short, diff_long = format_process_diff(diff)
-
-    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)

selfdrive/test/process_replay/migration.py

@@ -85,6 +85,7 @@ def migrate_peripheralState(lr):
       continue
 
     new_msg = messaging.new_message("peripheralState")
+    new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     all_msg.append(new_msg.as_reader())
 
@@ -149,6 +150,7 @@ def migrate_carParams(lr, old_logtime=False):
   for msg in lr:
     if msg.which() == 'carParams':
       CP = messaging.new_message('carParams')
+      CP.valid = True
       CP.carParams = msg.carParams.as_builder()
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName

selfdrive/test/process_replay/process_replay.py

@@ -442,8 +442,8 @@ def controlsd_config_callback(params, cfg, lr):
       controlsState = msg.controlsState
       if initialized:
         break
-    elif msg.which() == "carEvents":
-      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+    elif msg.which() == "onroadEvents":
+      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
 
   assert controlsState is not None and initialized, "controlsState never initialized"
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
@@ -465,8 +465,8 @@ CONFIGS = [
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
-    subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-    ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
+    subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"],
+    ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=controlsd_fingerprint_callback,
     should_recv_callback=controlsd_rcv_callback,
@@ -478,7 +478,7 @@ CONFIGS = [
     proc_name="radard",
     pubs=["can", "carState", "modelV2"],
     subs=["radarState", "liveTracks"],
-    ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
+    ignore=["logMonoTime", "radarState.cumLagMs"],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("can"),
     main_pub="can",
@@ -487,7 +487,7 @@ CONFIGS = [
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
     subs=["lateralPlan", "longitudinalPlan", "uiPlan"],
-    ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
+    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
@@ -496,14 +496,14 @@ CONFIGS = [
     proc_name="calibrationd",
     pubs=["carState", "cameraOdometry", "carParams"],
     subs=["liveCalibration"],
-    ignore=["logMonoTime", "valid"],
+    ignore=["logMonoTime"],
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
     pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"],
     subs=["driverMonitoringState"],
-    ignore=["logMonoTime", "valid"],
+    ignore=["logMonoTime"],
     should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
@@ -514,7 +514,7 @@ CONFIGS = [
       "liveCalibration", "carState", "carParams", "gpsLocation"
     ],
     subs=["liveLocationKalman"],
-    ignore=["logMonoTime", "valid"],
+    ignore=["logMonoTime"],
     config_callback=locationd_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
   ),
@@ -522,7 +522,7 @@ CONFIGS = [
     proc_name="paramsd",
     pubs=["liveLocationKalman", "carState"],
     subs=["liveParameters"],
-    ignore=["logMonoTime", "valid"],
+    ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
     tolerance=NUMPY_TOLERANCE,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-dbea36698ba48429b201b138846165eb4c329b92
+921222d49db204071f0a7006fc895690e1045b5d