Merge remote-tracking branch 'upstream/master' into new-nav-settings-button

2 years ago · db7fb1f314
parent c5f9e53ffd 1776c16f9a
commit db7fb1f314
31 changed files with 295 additions and 143 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -136,6 +136,11 @@ jobs:
      run: |
        source tools/openpilot_env.sh
        poetry run scons -j$(nproc)
+    - name: Run tests
+      run: |
+        source tools/openpilot_env.sh
+        export PYTHONPATH=$PWD
+        poetry run tools/plotjuggler/test_plotjuggler.py
    - name: Pre Cache - Cleanup scons cache
      if: github.ref == 'refs/heads/master'
      run: |
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -32,6 +32,7 @@ repos:
        entry: mypy
        language: system
        types: [python]
+        args: ['--explicit-package-bases']
        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/PyCQA/flake8
    rev: 6.0.0
--- a/33
+++ b/33
@ -18,6 +18,12 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 source ~/.bash_profile
 if [ -f /TICI ]; then
  source /etc/profile
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
 fi
 if [ -f /data/openpilot/launch_env.sh ]; then
  source /data/openpilot/launch_env.sh
@ -128,6 +134,28 @@ pipeline {
        }
        */

+        stage('scons build test') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "scons --clean && scons --no-cache -j42"
+            sh "scons --clean && scons --no-cache --random -j42"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
        stage('tizi-tests') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
@ -138,8 +166,9 @@ pipeline {
              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
              ["test camerad", "python system/camerad/test/test_camerad.py"],
              ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
-              ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
            ])
          }
        }
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,14 +1,14 @@
 Version 0.9.4 (2023-XX-XX)
 ========================
 * Navigate on openpilot
-  * When navigation has a destination openpilot will input the map information into the model, generally improving behavior
+  * When navigation has a destination, openpilot will input the map information into the model, generally improving behavior
  * When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits and take turns
-  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver 
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
 * UI updates
  * Navigation settings moved to home screen and map
-* UI alerts rework
  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
-  * Alerts are shown inside the border. Black/grey means info, orange means warning, and red means critical alert
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
 * Bookmarked segments are preserved on the device's storage
 * Ford Focus 2018 support
 * Kia Carnival 2023 support thanks to sunnyhaibin!
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 5f5b8a9dff671cbf9369eb10e18b41ca619566ba
+Subproject commit 05021c559e78fd7c539abceeedcc47f981b05455
--- a/common/gpio.py
+++ b/common/gpio.py
@ -1,4 +1,4 @@
-import glob
+from functools import lru_cache
 from typing import Optional, List

 def gpio_init(pin: int, output: bool) -> None:
@ -25,12 +25,20 @@ def gpio_read(pin: int) -> Optional[bool]:

  return val

-def get_irq_for_action(action: str) -> List[int]:
-  ret = []
-  for fn in glob.glob('/sys/kernel/irq/*/actions'):
-    with open(fn) as f:
+@lru_cache(maxsize=None)
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
      actions = f.read().strip().split(',')
-      if action in actions:
-        irq = int(fn.split('/')[-2])
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
        ret.append(irq)
  return ret
--- a/common/params.cc
+++ b/common/params.cc
@ -107,6 +107,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DisablePowerDown", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
    {"DongleId", PERSISTENT},
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -153,7 +153,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/poetry.lock
+++ b/poetry.lock
@ -2668,14 +2668,6 @@ python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*
 [package.dependencies]
 setuptools = "*"

-[[package]]
-name = "nose"
-version = "1.3.7"
-description = "nose extends unittest to make testing easier"
-category = "main"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "notebook"
 version = "6.5.4"
@ -5148,7 +5140,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.11"
-content-hash = "571bb6cff08ad22a78f005a7635909a399a495596ca387d59dfc4d8028f7484c"
+content-hash = "4d0cc4b21d5c400e874754367d7dcf9ada3b39c94cbafa27984d695daae5ee84"

 [metadata.files]
 adal = [
@ -6180,6 +6172,14 @@ fastcluster = [
    {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"},
    {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"},
    {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"},
    {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"},
    {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"},
    {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"},
@ -7629,11 +7629,6 @@ nodeenv = [
    {file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"},
    {file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"},
 ]
-nose = [
-    {file = "nose-1.3.7-py2-none-any.whl", hash = "sha256:dadcddc0aefbf99eea214e0f1232b94f2fa9bd98fa8353711dacb112bfcbbb2a"},
-    {file = "nose-1.3.7-py3-none-any.whl", hash = "sha256:9ff7c6cc443f8c51994b34a667bbcf45afd6d945be7477b52e97516fd17c53ac"},
-    {file = "nose-1.3.7.tar.gz", hash = "sha256:f1bffef9cbc82628f6e7d7b40d7e255aefaa1adb6a1b1d26c69a8b79e6208a98"},
-]
 notebook = [
    {file = "notebook-6.5.4-py3-none-any.whl", hash = "sha256:dd17e78aefe64c768737b32bf171c1c766666a21cc79a44d37a1700771cab56f"},
    {file = "notebook-6.5.4.tar.gz", hash = "sha256:517209568bd47261e2def27a140e97d49070602eea0d226a696f42a7f16c9a4e"},
@ -7977,6 +7972,7 @@ pillow-avif-plugin = [
    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a9b8e8943a8b9f860d2b03e0b9c9839bc59db22c5a0a55d66a534a3d4cea00b"},
    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:98dbb6b21ab5b7e0d80134721e756c956d4de2c6cb5c48bb32f78f97339425cb"},
    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c4d0b80ff0819de1ba6d401796bc900be252468621b6e734560eee2ea154dbb4"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:c4ff1d331df8ca0f0c5c90d3f05b3a05325c40c9f330e0ad58eb70f7ede20157"},
    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:0a02a436494e380fc99d5ff48be2ef15d42ce655614b9ebd80e106615eb3a594"},
    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:fe8250efd581e362a135d63bbca62b0c78ef1e474582da4013c3a995bc1f40c2"},
    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:39e93224a3d0132a64e7d978e48b74f020c65fcb3a141641084d2a4357ed6ceb"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -26,13 +26,11 @@ hexdump = "^3.3"
 Jinja2 = "^3.1.2"
 json-rpc = "^1.13.0"
 libusb1 = "^3.0.0"
-nose = "^1.3.7"
 numpy = "==1.23.0"  # locked pending deprecation fixes in xx
 onnx = "^1.14.0"
 onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
 pillow = "^9.2.0"
 poetry = "==1.2.2"
-protobuf = "==3.20.3"
 psutil = "^5.9.1"
 pycapnp = "^1.3.0"
 pycryptodome = "^3.15.0"
@ -46,7 +44,6 @@ requests = "^2.28.1"
 scons = "^4.5.2"
 sentry-sdk = "^1.6.0"
 setproctitle = "^1.2.3"
-six = "^1.16.0"
 smbus2 = "^0.4.2"
 sounddevice = "^0.4.5"
 spidev = { version = "^3.6", platform = "linux" }
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version

+
+# missing in pysocket
+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}
@ -141,6 +145,7 @@ def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> No
  end_event = threading.Event()

  threads = [
+    threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
    threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
    threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@ -154,8 +159,7 @@ def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> No
  for thread in threads:
    thread.start()
  try:
-    while not end_event.is_set():
-      time.sleep(0.1)
+    while not end_event.wait(0.1):
      if exit_event is not None and exit_event.is_set():
        end_event.set()
  except (KeyboardInterrupt, SystemExit):
@ -756,6 +760,25 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
      end_event.set()


+def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
+  params = Params()
+  onroad_prev = None
+  sock = ws.sock
+
+  while True:
+    onroad = params.get_bool("IsOnroad")
+    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_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)
+
+    if end_event.wait(5):
+      break
+
+
 def backoff(retries: int) -> int:
  return random.randrange(0, min(128, int(2 ** retries)))

--- a/selfdrive/athena/tests/test_athenad_ping.py
+++ b/selfdrive/athena/tests/test_athenad_ping.py
@ -37,6 +37,9 @@ class TestAthenadPing(unittest.TestCase):
  def _received_ping(self) -> bool:
    return self._get_ping_time() is not None

+  def _set_onroad(self, onroad: bool) -> None:
+    self.params.put_bool("IsOnroad", onroad)
+
  @classmethod
  def setUpClass(cls) -> None:
    cls.params = Params()
@ -63,8 +66,7 @@ class TestAthenadPing(unittest.TestCase):
      self.exit_event.set()
      self.athenad.join()

-  @unittest.skipIf(not TICI, "only run on desk")
-  def test_timeout(self) -> None:
+  def assertTimeout(self, reconnect_time: float) -> None:
    self.athenad.start()

    time.sleep(1)
@ -84,7 +86,7 @@ class TestAthenadPing(unittest.TestCase):
      wifi_radio(False)
      print("waiting for reconnect attempt")
      start_time = time.monotonic()
-      with Timeout(180, "no reconnect attempt"):
+      with Timeout(reconnect_time, "no reconnect attempt"):
        while not athenad.create_connection.called:
          time.sleep(0.1)
        print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
@ -97,6 +99,16 @@ class TestAthenadPing(unittest.TestCase):
        time.sleep(0.1)
      print("ping received")

+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_offroad(self) -> None:
+    self._set_onroad(False)
+    self.assertTimeout(100)  # expect approx 90s
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_onroad(self) -> None:
+    self._set_onroad(True)
+    self.assertTimeout(30)  # expect 20-30s
+

 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''


-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
  The ECU will stay silent as long as openpilot keeps sending Tester Present.

  This is used to disable the radar in some cars. Openpilot will emulate the radar.
  WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"ecu disable {hex(addr)} ...")
+  cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")

  for i in range(retry):
    try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)

      for _, _ in query.get_data(timeout).items():
        cloudlog.warning("communication control disable tx/rx ...")

-        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
        query.get_data(0)

        cloudlog.warning("ecu disabled")
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -197,7 +197,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
    ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
  ],
  CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
-  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
+  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
 }

 # (addr, cars, bus, 1/freq*100, vl)
@ -2129,15 +2129,16 @@ FW_VERSIONS = {
      b'F152648811\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
      b'8965B48261\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
    ],
  },
  CAR.PRIUS_TSS2: {
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@ -57,9 +57,10 @@ source_list = ['lat_mpc.py',
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))

-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+generated_lat = lenv.Command(generated_files,
+                             source_list,
+                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+lenv.Depends(generated_lat, "#common")

 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@ -64,9 +64,10 @@ source_list = ['long_mpc.py',
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))

-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 long_mpc.py")
+generated_long = lenv.Command(generated_files,
+                              source_list,
+                              f"cd {Dir('.').abspath} && python3 long_mpc.py")
+lenv.Depends(generated_long, "#cereal")

 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@ -5,6 +5,7 @@
 #include <cstdlib>

 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/dmonitoring.h"
@ -49,6 +50,8 @@ int main(int argc, char **argv) {
  DMonitoringModelState model;
  dmonitoring_init(&model);

+  Params().putBool("DmModelInitialized", true);
+
  LOGW("connecting to driver stream");
  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
  while (!do_exit && !vipc_client.connect(false)) {
--- a/selfdrive/modeld/navmodeld.cc
+++ b/selfdrive/modeld/navmodeld.cc
@ -5,6 +5,7 @@
 #include <cstdlib>

 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
@ -41,6 +42,13 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
 int main(int argc, char **argv) {
  setpriority(PRIO_PROCESS, 0, -15);

+  // there exists a race condition when two processes try to create a
+  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  LOGW("waiting for dmonitoringmodeld to initialize");
+  if (!Params().getBool("DmModelInitialized", true)) {
+    return 0;
+  }
+
  // init the models
  NavModelState model;
  navmodel_init(&model);
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -6,6 +6,7 @@ from collections import defaultdict
 from typing import Any

 import cereal.messaging as messaging
+from common.params import Params
 from common.spinner import Spinner
 from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
@ -62,6 +63,7 @@ def nav_model_replay(lr):
  try:
    assert "MAPBOX_TOKEN" in os.environ
    os.environ['MAP_RENDER_TEST_MODE'] = '1'
+    Params().put_bool('DmModelInitialized', True)
    managed_processes['mapsd'].start()
    managed_processes['navmodeld'].start()

--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@ -103,6 +103,8 @@ def hw_state_thread(end_event, hw_queue):
  modem_version = None
  modem_nv = None
  modem_configured = False
+  modem_restarted = False
+  modem_missing_count = 0

  while not end_event.is_set():
    # these are expensive calls. update every 10s
@ -120,6 +122,16 @@ def hw_state_thread(end_event, hw_queue):

          if (modem_version is not None) and (modem_nv is not None):
            cloudlog.event("modem version", version=modem_version, nv=modem_nv)
+          else:
+            if not modem_restarted:
+              # TODO: we may be able to remove this with a MM update
+              # ModemManager's probing on startup can fail
+              # rarely, restart the service to probe again.
+              modem_missing_count += 1
+              if modem_missing_count > 3:
+                modem_restarted = True
+                cloudlog.event("restarting ModemManager")
+                os.system("sudo systemctl restart --no-block ModemManager")

        tx, rx = HARDWARE.get_modem_data_usage()

--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@ -49,8 +49,6 @@ private:
  void pinchTriggered(QPinchGesture *gesture);
  void setError(const QString &err_str);

-  bool m_sourceAdded = false;
-
  bool loaded_once = false;
  bool allow_open = true;

--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@ -8,7 +8,6 @@
 #include "selfdrive/ui/qt/widgets/scrollview.h"

 MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
-  close_icon = loadPixmap("../assets/icons/close.svg", {100, 100});
  setContentsMargins(0, 0, 0, 0);

  auto *frame = new QVBoxLayout(this);
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ b/selfdrive/ui/qt/maps/map_settings.h
@ -62,7 +62,6 @@ private:
  DestinationWidget *home_widget;
  DestinationWidget *work_widget;
  std::vector<DestinationWidget *> widgets;
-  QPixmap close_icon;

 signals:
  void closeSettings();
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -234,7 +234,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
    if (!selection.isEmpty()) {
      // put language setting, exit Qt UI, and trigger fast restart
-      Params().put("LanguageSetting", langs[selection].toStdString());
+      params.put("LanguageSetting", langs[selection].toStdString());
      qApp->exit(18);
      watchdog_kick(0);
    }
@ -278,7 +278,7 @@ void DevicePanel::updateCalibDescription() {
  QString desc =
      tr("openpilot requires the device to be mounted within 4° left or right and "
         "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
-  std::string calib_bytes = Params().get("CalibrationParams");
+  std::string calib_bytes = params.get("CalibrationParams");
  if (!calib_bytes.empty()) {
    try {
      AlignedBuffer aligned_buf;
@ -303,7 +303,7 @@ void DevicePanel::reboot() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
      // Check engaged again in case it changed while the dialog was open
      if (!uiState()->engaged()) {
-        Params().putBool("DoReboot", true);
+        params.putBool("DoReboot", true);
      }
    }
  } else {
@ -316,7 +316,7 @@ void DevicePanel::poweroff() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
      // Check engaged again in case it changed while the dialog was open
      if (!uiState()->engaged()) {
-        Params().putBool("DoShutdown", true);
+        params.putBool("DoShutdown", true);
      }
    }
  } else {
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path

 from cereal import log
-from common.gpio import gpio_set, gpio_init, get_irq_for_action
+from common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from system.hardware.base import HardwareBase, ThermalConfig
 from system.hardware.tici import iwlist
 from system.hardware.tici.pins import GPIO
@ -61,17 +61,27 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14


 def sudo_write(val, path):
-  os.system(f"sudo su -c 'echo {val} > {path}'")
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")


 def affine_irq(val, action):
-  irq = get_irq_for_action(action)
-  if len(irq) == 0:
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
    print(f"No IRQs found for '{action}'")
    return
-  for i in irq:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")

+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")

 class Tici(HardwareBase):
  @cached_property
@ -438,17 +448,17 @@ class Tici(HardwareBase):

    # *** IRQ config ***

-    # GPU
-    affine_irq(5, "kgsl-3d0")
-
    # boardd core
    affine_irq(4, "spi_geni")         # SPI
    affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
    if "tici" in self.get_device_type():
-      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB (also modem)
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")

    # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
    for n in camera_irqs:
      affine_irq(5, n)

@ -472,14 +482,14 @@ class Tici(HardwareBase):

    # *** IRQ config ***

-    # move these off the default core
-    affine_irq(1, "msm_drm")
-    affine_irq(1, "msm_vidc")
-    affine_irq(1, "i2c_geni")
-
    # mask off big cluster from default affinity
    sudo_write("f", "/proc/irq/default_smp_affinity")

+    # move these off the default core
+    affine_irq(1, "msm_drm")   # display
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
    # *** GPU config ***
    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
--- a/system/hardware/tici/tests/test_hardware.py
+++ b/system/hardware/tici/tests/test_hardware.py
@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from system.hardware import TICI
+from system.hardware.tici.hardware import Tici
+
+HARDWARE = Tici()
+
+class TestHardware(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def test_power_save_time(self):
+    ts = []
+    for _ in range(5):
+      for on in (True, False):
+        st = time.monotonic()
+        HARDWARE.set_power_save(on)
+        ts.append(time.monotonic() - st)
+
+    assert 0.1 < np.mean(ts) < 0.2
+    assert max(ts) < 0.3
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@ -173,6 +173,9 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
 }

 void handle_user_flag(LoggerdState *s) {
+  static int prev_segment = -1;
+  if (s->rotate_segment == prev_segment) return;
+
  LOGW("preserving %s", s->segment_path);

 #ifdef __APPLE__
@ -183,16 +186,17 @@ void handle_user_flag(LoggerdState *s) {
  if (ret) {
    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
  }
+  prev_segment = s->rotate_segment.load();
 }

 void loggerd_thread() {
  // setup messaging
-  typedef struct QlogState {
+  typedef struct ServiceState {
    std::string name;
    int counter, freq;
-    bool encoder;
-  } QlogState;
-  std::unordered_map<SubSocket*, QlogState> qlog_states;
+    bool encoder, user_flag;
+  } ServiceState;
+  std::unordered_map<SubSocket*, ServiceState> service_state;
  std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;

  std::unique_ptr<Context> ctx(Context::create());
@ -207,11 +211,12 @@ void loggerd_thread() {
    SubSocket * sock = SubSocket::create(ctx.get(), it.name);
    assert(sock != NULL);
    poller->registerSocket(sock);
-    qlog_states[sock] = {
+    service_state[sock] = {
      .name = it.name,
      .counter = 0,
      .freq = it.decimation,
      .encoder = encoder,
+      .user_flag = (strcmp(it.name, "userFlag") == 0),
    };
  }

@ -236,20 +241,19 @@ void loggerd_thread() {
    for (auto sock : poller->poll(1000)) {
      if (do_exit) break;

+      ServiceState &service = service_state[sock];
+      if (service.user_flag) {
+        handle_user_flag(&s);
+      }
+
      // drain socket
      int count = 0;
-      QlogState &qs = qlog_states[sock];
      Message *msg = nullptr;
      while (!do_exit && (msg = sock->receive(true))) {
-        const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0);
-
-        if (qs.name == "userFlag") {
-          handle_user_flag(&s);
-        }
-
-        if (qs.encoder) {
+        const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+        if (service.encoder) {
          s.last_camera_seen_tms = millis_since_boot();
-          bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]);
+          bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
        } else {
          logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
          bytes_count += msg->getSize();
@ -265,7 +269,7 @@ void loggerd_thread() {

        count++;
        if (count >= 200) {
-          LOGD("large volume of '%s' messages", qs.name.c_str());
+          LOGD("large volume of '%s' messages", service.name.c_str());
          break;
        }
      }
@ -282,7 +286,7 @@ void loggerd_thread() {
  }

  // messaging cleanup
-  for (auto &[sock, qs] : qlog_states) delete sock;
+  for (auto &[sock, service] : service_state) delete sock;
 }

 int main(int argc, char** argv) {
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@ -149,20 +149,26 @@ def downloader_loop(event):
    time.sleep(10)

 def inject_assistance():
-  try:
-    cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-    subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-    cloudlog.info("successfully loaded assistance data")
-  except subprocess.CalledProcessError as e:
-    cloudlog.event(
-      "rawgps.assistance_loading_failed",
-      error=True,
-      cmd=e.cmd,
-      output=e.output,
-      returncode=e.returncode
-    )
-
-def setup_quectel(diag: ModemDiag):
+  for _ in range(5):
+    try:
+      cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
+      subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
+      cloudlog.info("successfully loaded assistance data")
+      return
+    except subprocess.CalledProcessError as e:
+      cloudlog.event(
+        "rawgps.assistance_loading_failed",
+        error=True,
+        cmd=e.cmd,
+        output=e.output,
+        returncode=e.returncode
+      )
+    time.sleep(0.2)
+  cloudlog.error("failed to load assistance after retry")
+
+def setup_quectel(diag: ModemDiag) -> bool:
+  ret = False
+
  # enable OEMDRE in the NV
  # TODO: it has to reboot for this to take effect
  DIAG_NV_READ_F = 38
@ -186,7 +192,9 @@ def setup_quectel(diag: ModemDiag):
  at_cmd("AT+QGPSXTRA=1")
  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
  if os.path.exists(ASSIST_DATA_FILE):
+    ret = True
    inject_assistance()
+    os.remove(ASSIST_DATA_FILE)
  #at_cmd("AT+QGPSXTRADATA?")
  time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
  at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@ -213,6 +221,8 @@ def setup_quectel(diag: ModemDiag):
    0,0
  ))

+  return ret
+
 def teardown_quectel(diag):
  at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
  if gps_enabled():
@ -260,8 +270,8 @@ def main() -> NoReturn:

  # connect to modem
  diag = ModemDiag()
-  setup_quectel(diag)
-  want_assistance = True
+  r = setup_quectel(diag)
+  want_assistance = not r
  current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
  cloudlog.warning("quectel setup done")
  gpio_init(GPIO.UBLOX_PWR_EN, True)
@ -270,12 +280,9 @@ def main() -> NoReturn:
  pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])

  while 1:
-    if os.path.exists(ASSIST_DATA_FILE):
-      if want_assistance:
-        setup_quectel(diag)
-        want_assistance = False
-      else:
-        os.remove(ASSIST_DATA_FILE)
+    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
+      setup_quectel(diag)
+      want_assistance = False

    opcode, payload = diag.recv()
    if opcode != DIAG_LOG_F:
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@ -19,12 +19,12 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 class TestRawgpsd(unittest.TestCase):
  @classmethod
  def setUpClass(cls):
-    os.system("sudo systemctl restart systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
    if not TICI:
      raise unittest.SkipTest
-    cls.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+
+    os.system("sudo systemctl start systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+    wait_for_modem()

  @classmethod
  def tearDownClass(cls):
@ -34,40 +34,44 @@ class TestRawgpsd(unittest.TestCase):

  def setUp(self):
    at_cmd("AT+QGPSDEL=0")
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])

  def tearDown(self):
    managed_processes['rawgpsd'].stop()
    os.system("sudo systemctl restart systemd-resolved")

-  def _wait_for_output(self, t=10):
-    time.sleep(t)
-    self.sm.update()
+  def _wait_for_output(self, t):
+    dt = 0.1
+    for _ in range(t*int(1/dt)):
+      self.sm.update(0)
+      if self.sm.updated['qcomGnss']:
+        break
+      time.sleep(dt)
+    return self.sm.updated['qcomGnss']

  def test_no_crash_double_command(self):
    at_cmd("AT+QGPSDEL=0")
    at_cmd("AT+QGPSDEL=0")

  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager lte")
+    os.system("sudo systemctl stop ModemManager")
    managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert not self.sm.updated['qcomGnss']
+    assert not self._wait_for_output(5)

-    os.system("sudo systemctl restart ModemManager lte")
-    self._wait_for_output(30)
-    assert self.sm.updated['qcomGnss']
+    os.system("sudo systemctl restart ModemManager")
+    assert self._wait_for_output(30)

  def test_startup_time(self):
-    for i in range(2):
-      if i == 1:
+    for internet in (True, False):
+      if not internet:
        os.system("sudo systemctl stop systemd-resolved")
-      managed_processes['rawgpsd'].start()
-      self._wait_for_output(10)
-      assert self.sm.updated['qcomGnss']
-      managed_processes['rawgpsd'].stop()
+      with self.subTest(internet=internet):
+        managed_processes['rawgpsd'].start()
+        assert self._wait_for_output(7)
+        managed_processes['rawgpsd'].stop()

  def test_turns_off_gnss(self):
-    for s in (0.1, 0.5, 1, 5):
+    for s in (0.1, 1, 5):
      managed_processes['rawgpsd'].start()
      time.sleep(s)
      managed_processes['rawgpsd'].stop()
@ -95,8 +99,7 @@ class TestRawgpsd(unittest.TestCase):

  def test_assistance_loading(self):
    managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert self.sm.updated['qcomGnss']
+    assert self._wait_for_output(10)
    managed_processes['rawgpsd'].stop()
    self.check_assistance(True)

@ -104,8 +107,7 @@ class TestRawgpsd(unittest.TestCase):
    os.system("sudo systemctl stop systemd-resolved")

    managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert self.sm.updated['qcomGnss']
+    assert self._wait_for_output(10)
    managed_processes['rawgpsd'].stop()
    self.check_assistance(False)

@ -115,8 +117,9 @@ class TestRawgpsd(unittest.TestCase):
    managed_processes['rawgpsd'].start()
    self._wait_for_output(17)
    assert self.sm.updated['qcomGnss']
+
    os.system("sudo systemctl restart systemd-resolved")
-    self._wait_for_output(15)
+    time.sleep(15)
    managed_processes['rawgpsd'].stop()
    self.check_assistance(True)

--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict

 import cereal.messaging as messaging
 from cereal import log
-from common.gpio import get_irq_for_action
+from common.gpio import get_irqs_for_action
 from system.hardware import TICI
 from selfdrive.manager.process_config import managed_processes

@ -113,7 +113,7 @@ class TestSensord(unittest.TestCase):
      cls.events = read_sensor_events(cls.sample_secs)

      # determine sensord's irq
-      cls.sensord_irq = get_irq_for_action("sensord")[0]
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
    finally:
      # teardown won't run if this doesn't succeed
      managed_processes["sensord"].stop()
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@ -29,7 +29,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset

 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
                                               'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
@ -38,6 +38,7 @@ cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs
 if GetOption('test'):
  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])

-def generate_dbc_json(target, source, env):
-  env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json')
-cabana_env.Command('generate_dbc_json', [], generate_dbc_json)
+generate_dbc = cabana_env.Command('generate_dbc_json',
+                                   [],
+                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json")
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])