Merge remote-tracking branch 'upstream/master' into toyota-lta

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -8,6 +8,7 @@ body:
       value: >
         Before creating a **bug report**, please check the following:
           * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
           * Ensure you're running the latest openpilot release.
           * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
           * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
@@ -22,23 +23,11 @@ body:
     validations:
       required: true
 
-  - type: dropdown
-    id: hw
-    attributes:
-      label: What hardware does this issue affect?
-      multiple: true
-      options:
-        - comma three
-        - comma two
-        - EON Gold
-    validations:
-      required: true
-
   - type: input
     id: route
     attributes:
       label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
       placeholder: 77611a1fac303767|2020-05-11--16-37-07
     validations:
       required: true

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown
@@ -21,18 +21,6 @@ body:
     validations:
       required: true
 
-  - type: dropdown
-    id: hw
-    attributes:
-      label: What hardware does this issue affect?
-      multiple: true
-      options:
-        - comma three
-        - comma two
-        - EON Gold
-    validations:
-      required: true
-
   - type: input
     id: car
     attributes:

.github/ISSUE_TEMPLATE/config.yml

@@ -1,8 +1,11 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Report model bugs
+    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
+    about: Provide feedback for the driving or driver monitoring models
   - name: Discussions
     url: https://github.com/commaai/openpilot/discussions
-    about: For questions and discussion about openpilot
+    about: For questions and general discussion about openpilot
   - name: Community Wiki
     url: https://github.com/commaai/openpilot/wiki
     about: Check out our community wiki

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -1,6 +1,6 @@
 ---
 name: Car Bug fix
-about: For vehicle/brand specifc bug fixes
+about: For vehicle/brand specific bug fixes
 title: ''
 labels: 'car bug fix'
 assignees: ''

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -9,7 +9,7 @@ assignees: ''
 **Checklist**
 
 - [ ] added to README
-- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_models.py)
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):

.github/pull_request_template.md

@@ -22,8 +22,8 @@ Route: [a route with the bug fix]
 <!--- ***** Template: Car port *****
 
 **Checklist**
-- [ ] added to README
-- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_routes.py)
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 

.github/workflows/badges.yaml

@@ -0,0 +1,33 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD

.github/workflows/prebuilt.yaml

@@ -2,16 +2,15 @@ name: prebuilt
 on:
   schedule:
     - cron: '0 * * * *'
+  workflow_dispatch:
 
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
 jobs:
   build_prebuilt:
@@ -23,19 +22,19 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
-    - uses: actions/checkout@v2
+        check-regexp: ^((?!.*(build master-ci).*).)*$
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: |
         eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN

.github/workflows/release.yaml

@@ -0,0 +1,29 @@
+name: release
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+jobs:
+  build_masterci:
+    name: build master-ci
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - name: Wait for green check mark
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build master-ci'
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+        fetch-depth: 0
+    - name: Pull LFS
+      run: git lfs pull
+    - name: Build master-ci
+      run: |
+        BRANCH=master-ci release/build_devel.sh

.github/workflows/selfdrive_tests.yaml

@@ -1,72 +1,84 @@
 name: selfdrive
+
 on:
   push:
     branches-ignore:
       - 'testing-closet*'
   pull_request:
 
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
 env:
   BASE_IMAGE: openpilot-base
+  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+  BUILD_CL: |
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
   UNIT_TEST: coverage run --append -m unittest discover
 
 jobs:
-  # TODO: once actions/cache supports read only mode, use the cache for all jobs
   build_release:
     name: build release
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     env:
-      STRIPPED_DIR: tmppilot
+      STRIPPED_DIR: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
+    - name: Build devel
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Strip non-release files
-      run: |
-        mkdir $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_tici) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_pc) $STRIPPED_DIR
-        cp Dockerfile.openpilot_base $STRIPPED_DIR
-
-        # need this to build on x86
-        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Build openpilot and run checks
       run: |
-          cd $STRIPPED_DIR
-          ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
-                          python -m unittest discover selfdrive/car"
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
+    - name: Run tests
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        python -m unittest discover selfdrive/car"
+    - name: pre-commit
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp .pylintrc $STRIPPED_DIR
+        cp mypy.ini $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "SKIP=test_translations pre-commit run --all"
+
+  build_all:
+    name: build all
+    runs-on: ubuntu-20.04
+    timeout-minutes: 30
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup
+      with:
+        save-cache: true
+    - name: Build openpilot with all flags
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
-          cd $STRIPPED_DIR
-          ${{ env.RUN }} "scons -j$(nproc) && \
-                          rm -rf /tmp/scons_cache/* && \
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
 
   #build_mac:
@@ -74,7 +86,7 @@ jobs:
   #  runs-on: macos-latest
   #  timeout-minutes: 60
   #  steps:
-  #  - uses: actions/checkout@v2
+  #  - uses: actions/checkout@v3
   #    with:
   #      submodules: true
   #  - name: Determine pre-existing Homebrew packages
@@ -93,7 +105,7 @@ jobs:
   #        /usr/local/Cellar
   #        ~/github_brew_cache_entries.txt
   #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
   #      restore-keys: macos-
   #  - name: Brew link restored dependencies
   #    run: |
@@ -109,11 +121,11 @@ jobs:
   #  - name: Build openpilot
   #    run: |
   #      source tools/openpilot_env.sh
-  #      pipenv run selfdrive/manager/build.py
+  #      poetry run selfdrive/manager/build.py
   #
   #      # cleanup scons cache
   #      rm -rf /tmp/scons_cache/
-  #      pipenv run scons -j$(nproc) --cache-populate
+  #      poetry run scons -j$(nproc) --cache-populate
   #  - name: Remove pre-existing Homebrew packages for caching
   #    if: steps.dependency-cache.outputs.cache-hit != 'true'
   #    run: |
@@ -126,91 +138,59 @@ jobs:
   #      done
   #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
 
-  build_webcam:
-    name: build webcam
-    runs-on: ubuntu-20.04
-    timeout-minutes: 90
-    env:
-      IMAGE_NAME: openpilotwebcamci
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
-    - name: Build openpilot
-      run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
-    - name: Push to container registry
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
-
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 22
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
+      timeout-minutes: 13
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+    - name: Build CL Docker image
+      run: eval "$BUILD_CL"
+      timeout-minutes: 4
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
 
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+      timeout-minutes: 5
+      run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
       if: always()
       run: cat selfdrive/test/valgrind_logs.txt
@@ -218,34 +198,18 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     steps:
-    - name: Get current date
-      id: date
-      run: echo "::set-output name=time::$(date +'%s')"
-    - name: Output timestamp
-      run: echo $TIMESTAMP
-      env:
-        TIMESTAMP: ${{ steps.date.outputs.time }}
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
-        restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        coverage run selfdrive/test/test_fingerprints.py && \
+        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $UNIT_TEST common && \
                         $UNIT_TEST opendbc/can && \
                         $UNIT_TEST selfdrive/boardd && \
@@ -254,17 +218,22 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
+                        ./common/tests/test_util && \
+                        ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/common/tests/test_util && \
-                        ./selfdrive/common/tests/test_swaglog && \
                         ./selfdrive/loggerd/tests/test_logger &&\
-                        ./selfdrive/proclogd/tests/test_proclog && \
-                        ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./system/proclogd/tests/test_proclog && \
+                        ./tools/replay/tests/test_replay && \
+                        ./tools/cabana/tests/test_cabana && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
@@ -272,38 +241,25 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 25
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py && \
+        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
     - name: Print diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
@@ -313,51 +269,60 @@ jobs:
       with:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
-  #model_replay:
-  #  name: model replay
-  #  runs-on: ubuntu-20.04
-  #  timeout-minutes: 50
-  #  steps:
-  #  - uses: actions/checkout@v2
-  #    with:
-  #      submodules: true
-  #  - name: Build Docker image
-  #    run: eval "$BUILD"
-  #  - name: Run replay
-  #    run: |
-  #      ${{ env.RUN }} "scons -j$(nproc) && \
-  #                      selfdrive/test/process_replay/model_replay.py"
+  test_modeld:
+    name: model tests
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup
+    - name: Build Docker image
+      # Sim docker is needed to get the OpenCL drivers
+      run: eval "$BUILD_CL"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run model replay with ONNX
+      timeout-minutes: 2
+      run: |
+        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           coverage xml"
+    - name: Run unit tests
+      timeout-minutes: 5
+      run: |
+        ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
+                           coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test longitudinal
       run: |
         ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
-                        scons -j$(nproc) && \
                         cd selfdrive/test/longitudinal_maneuvers && \
                         coverage run ./test_longitudinal.py && \
                         coverage xml"
+      timeout-minutes: 2
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
     - uses: actions/upload-artifact@v2
@@ -370,62 +335,83 @@ jobs:
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1, 2, 3, 4]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/test/test_models.py', 'selfdrive/test/test_routes.py') }}-${{ matrix.job }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
       uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
       with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
+        path: /tmp/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
+      timeout-minutes: 12
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/test/test_models.py && \
+        ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 4
+        NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
 
-  docs:
-    name: build docs
+  car_docs_diff:
+    name: PR comments
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
+    if: github.event_name == 'pull_request'
     steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Build docker container
-      run: |
-        docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-        docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
-        DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
-    - name: Push docker container
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/openpilot-docs:latest
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - uses: ./.github/workflows/setup
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })

.github/workflows/setup/action.yaml

@@ -0,0 +1,37 @@
+name: 'openpilot env setup'
+
+inputs:
+  save-cache:
+    default: false
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - shell: bash
+      run: echo "$CACHE_COMMIT_DATE"
+    - shell: bash
+      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
+      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
+    - id: scons-cache
+      # TODO: change the version to the released version
+      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ env.CACHE_COMMIT_DATE }}-
+          scons-
+
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}

.github/workflows/tools_tests.yaml

@@ -1,32 +1,44 @@
 name: tools
+
 on:
   push:
+    branches-ignore:
+      - 'testing-closet*'
   pull_request:
 
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
 env:
   BASE_IMAGE: openpilot-base
+  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
-       GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+  BUILD_CL: |
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+
 
 jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
+    timeout-minutes: 20
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Unit test
+      timeout-minutes: 2
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
                         apt-get update && \
@@ -37,35 +49,43 @@ jobs:
   simulator:
     name: simulator
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     env:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-
-    # HACK: cache LFS objects since they count against our quota
-    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
-    - name: Create LFS file list
-      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
-    - name: Restore LFS cache
-      uses: actions/cache@v2
-      id: lfs-cache
-      with:
-        path: .git/lfs
-        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
-    - name: Git LFS Pull
+    - name: Pull LFS
       run: git lfs pull
-
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+    - name: Build base image
+      run: eval "$BUILD"
+    - name: Build base cl image
+      run: eval "$BUILD_CL"
+    - name: Build simulator image
+      run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
     - name: Push to container registry
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 25
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Build docker container
+      run: |
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
+    - name: Push docker container
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+

.gitignore

@@ -32,26 +32,27 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html
 
 persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
+system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
@@ -76,10 +77,12 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/thneed/compile
-models/*.thneed
+selfdrive/modeld/models/*.thneed
 
 *.bz2
 
 build/
 
 !**/.gitkeep
+
+poetry.toml

.gitmodules

@@ -1,15 +1,21 @@
 [submodule "panda"]
-	path = panda
-	url = ../../commaai/panda.git
+  path = panda
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
-	path = opendbc
-	url = ../../commaai/opendbc.git
+  path = opendbc
+  url = ../../commaai/opendbc.git
 [submodule "laika_repo"]
-	path = laika_repo
-	url = ../../commaai/laika.git
+  path = laika_repo
+  url = ../../commaai/laika.git
 [submodule "cereal"]
-	path = cereal
-	url = ../../commaai/cereal.git
+  path = cereal
+  url = ../../commaai/cereal.git
 [submodule "rednose_repo"]
-	path = rednose_repo
-	url = ../../commaai/rednose.git
+  path = rednose_repo
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git
+[submodule "tinygrad"]
+  path = tinygrad_repo
+  url = https://github.com/geohot/tinygrad.git

.pre-commit-config.yaml

@@ -15,18 +15,28 @@ repos:
     -   id: check-symlinks
     -   id: check-added-large-files
         args: ['--maxkb=100']
--   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.931
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.2.1
+    hooks:
+    -   id: codespell
+        exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)'
+        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
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: local
     hooks:
     -   id: mypy
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl']
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        exclude: '^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
     hooks:
     -   id: flake8
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
         additional_dependencies: ['flake8-no-implicit-concat']
         args:
         - --indent-size=2
@@ -41,7 +51,12 @@ repos:
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        args:
+        - -j0
+        - -rn
+        - -sn
+        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -49,10 +64,21 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++
         - --quiet
         - --force
         - -j8
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: selfdrive/ui/tests/test_translations.py
+        language: script
+        pass_filenames: false
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.2.2'
+    hooks:
+    -   id: poetry-check

.pylintrc

@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.
@@ -54,7 +54,7 @@ confidence=
 # --enable=similarities". If you want to run only the classes checker, but have
 # no Warning level messages displayed, use"--disable=all --enable=classes
 # --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
+disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
 
 
 # Enable the message, report, category or checker with the given id(s). You can
@@ -250,13 +250,6 @@ max-line-length=100
 # Maximum number of lines in a module
 max-module-lines=1000
 
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
 # Allow the body of a class to be on the same line as the declaration if body
 # contains single statement.
 single-line-class-stmt=no

Dockerfile.openpilot

@@ -8,11 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY Pipfile Pipfile.lock $OPENPILOT_PATH
-RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
-    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv
-
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
@@ -28,5 +23,6 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -12,21 +12,22 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-ENV PIPENV_SYSTEM=1
+ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.8.10
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
 COPY tools/ubuntu_setup.sh /tmp/tools/
 RUN cd /tmp && \
     tools/ubuntu_setup.sh && \
     rm -rf /var/lib/apt/lists/* && \
     rm -rf /tmp/* && \
     rm -rf /root/.cache && \
-    pip uninstall -y pipenv && \
-
+    pip uninstall -y poetry && \
     # remove unused architectures from gcc for panda
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Dockerfile.openpilot_base_cl

@@ -0,0 +1,37 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt-get update && apt-get install -y --no-install-recommends\
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Intel OpenCL driver
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+WORKDIR /tmp/opencl-driver-intel
+RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    rm -rf /tmp/opencl-driver-intel
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+

Jenkinsfile

@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -18,13 +19,6 @@ fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
-if [ -f /EON ]; then
-  echo \$\$ > /dev/cpuset/app/tasks || true
-  echo \$PPID > /dev/cpuset/app/tasks || true
-  mkdir -p /dev/shm
-  chmod 777 /dev/shm
-fi
-
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
@@ -37,7 +31,7 @@ END"""
 
 def phone_steps(String device_type, steps) {
   lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
+    timeout(time: 20, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -49,37 +43,25 @@ def phone_steps(String device_type, steps) {
 pipeline {
   agent none
   environment {
+    CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
   }
   options {
-      timeout(time: 4, unit: 'HOURS')
+    timeout(time: 4, unit: 'HOURS')
   }
 
   stages {
-    stage('build releases') {
+    stage('build release3') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
       when {
         branch 'devel-staging'
       }
-
-      parallel {
-        stage('release2') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("eon-build", [
-              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
-
-        stage('release3') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici", [
-              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+        ])
       }
     }
 
@@ -88,156 +70,129 @@ pipeline {
         not {
           anyOf {
             branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
             branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
             branch 'testing-closet*'; branch 'hotfix-*'
           }
         }
       }
 
-      stages {
-        stage('On-device Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          stages {
-            stage('parallel tests') {
-              parallel {
-                stage('C2: build') {
-                  steps {
-                    phone_steps("eon-build", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: replay') {
-                  steps {
-                    phone_steps("eon2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: HW + Unit Tests') {
-                  steps {
-                    phone_steps("eon", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
-                    ])
-                  }
-                }
-
-                /*
-                stage('Power Consumption Tests') {
-                  steps {
-                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-                      timeout(time: 90, unit: 'MINUTES') {
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "scons -j4 && sync")
-                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
-                      }
-                    }
-                  }
-                }
-                */
-
-                stage('C3: build') {
-                  environment {
-                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-                  }
-                  steps {
-                    phone_steps("tici", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: HW + Unit Tests') {
-                  steps {
-                    phone_steps("tici2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: camerad') {
-                  steps {
-                    phone_steps("eon-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: camerad') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: replay') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-              }
-            }
+      parallel {
 
-            stage('Push master-ci') {
-              when {
-                branch 'master'
-              }
-              steps {
-                phone_steps("eon-build", [
-                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
-                ])
-              }
+        stage('simulator') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.sim_nvidia'
+              dir 'tools/sim'
+              args '--user=root'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git lfs pull"
+            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
+              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
+              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }
-
           }
 
           post {
             always {
-              cleanWs()
+              sh "docker kill carla_sim || true"
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
             }
           }
+        }
 
+        stage('build') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          environment {
+            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+          }
+          steps {
+            phone_steps("tici-needs-can", [
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
+              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+            ])
+          }
+        }
+
+        stage('loopback-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-loopback", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ])
+          }
+        }
+
+        stage('HW + Unit Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-common", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+            ])
+          }
+        }
+
+        stage('camerad-ar') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-ar0321", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
+        stage('camerad-ox') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-ox03c10", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
+        stage('sensord') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-lsmc", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+            ])
+            phone_steps("tici-bmx-lsm", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+            ])
+          }
+        }
+
+        stage('replay') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-common", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+            ])
+          }
         }
 
       }
     }
+
   }
 }
-

Pipfile

@@ -1,83 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-fastcluster = "*"
-hexdump = "*"
-hypothesis = "*"
-inputs = "*"
-lru-dict = "*"
-markdown-it-py = "*"
-matplotlib = "*"
-mypy = "*"
-myst-parser = "*"
-numpy = "*"
-opencv-python-headless = "*"
-parameterized = "*"
-paramiko = "*"
-pprofile = "*"
-pre-commit = "*"
-pycurl = "*"
-pygame = "*"
-pyprof2calltree = "*"
-pytest = "*"
-pytest-xdist = "*"
-reverse_geocoder = "*"
-scipy = "*"
-sphinx = "*"
-sphinx-sitemap = "*"
-sphinx-rtd-theme = "*"
-breathe = "*"
-subprocess32 = "*"
-tenacity = "*"
-
-[packages]
-atomicwrites = "*"
-casadi = {version = "*", markers="platform_system != 'Darwin'"}
-cffi = "*"
-crcmod = "*"
-cryptography = "*"
-Cython = "*"
-flake8 = "*"
-Flask = "*"
-future-fstrings = "*"  # for acados
-gunicorn = "*"
-hexdump = "*"
-Jinja2 = "*"
-json-rpc = "*"
-libusb1 = "*"
-nose = "*"
-numpy = "*"
-onnx = "*"
-onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
-pillow = "*"
-psutil = "*"
-pycapnp = "==1.1.0"
-pycryptodome = "*"
-PyJWT = "*"
-pylint = "*"
-pyopencl = "*"
-pyserial = "*"
-python-dateutil = "*"
-PyYAML = "*"
-pyzmq = "*"
-requests = "*"
-scons = "*"
-sentry-sdk = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "!=1.6.1"
-timezonefinder = "*"
-tqdm = "*"
-urllib3 = "*"
-utm = "*"
-websocket_client = "*"
-
-[requires]
-python_version = "3.8"

README.md

@@ -4,7 +4,7 @@ Table of Contents
 =======================
 
 * [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-in-a-car)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
 * [Running on PC](#running-on-pc)
 * [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)
@@ -17,7 +17,7 @@ Table of Contents
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
@@ -35,26 +35,28 @@ What is openpilot?
 </table>
 
 
-Running in a car
+Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* This software. It's free and available right here.
-* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
+The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
+* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 Running on PC
 ------
 
-All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
+All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
 
-With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
+A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
@@ -76,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce
 
 openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
@@ -85,11 +87,11 @@ Safety and Testing
 ----
 
 * openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
 Directory Structure
@@ -102,20 +104,25 @@ Directory Structure
     ├── panda               # Code used to communicate on CAN
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
+    └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
+        ├── logcatd         # systemd journal as a service
+        └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
         ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Daemon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
+        ├── monitoring      # Daemon to determine driver attention
+        ├── navd            # Turn-by-turn navigation
         ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI

RELEASES.md

@@ -1,11 +1,120 @@
-Version 0.8.14 (2022-0X-XX)
+Version 0.9.1 (2022-12-XX)
+========================
+* Adjust alert volume using ambient noise level
+* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Hyundai Tucson 2022-23 support
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
 ========================
- * bigmodel!
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
 
 Version 0.8.13 (2022-02-18)
 ========================
  * Improved driver monitoring
-   * Retuned driver pose learner for relaxed driving positions
+   * Re-tuned driver pose learner for relaxed driving positions
    * Added reliance on driving model to be more scene adaptive
    * Matched strictness between comma two and comma three
  * Improved performance in turns by compensating for the road bank angle
@@ -151,7 +260,7 @@ Version 0.8.4 (2021-05-17)
  * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
+ * Re-tuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
  * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -316,7 +425,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 

SConstruct

@@ -1,5 +1,4 @@
 import os
-import shutil
 import subprocess
 import sys
 import sysconfig
@@ -7,11 +6,9 @@ import platform
 import numpy as np
 
 TICI = os.path.isfile('/TICI')
-Decider('MD5-timestamp')
+AGNOS = TICI
 
-AddOption('--test',
-          action='store_true',
-          help='build test files')
+Decider('MD5-timestamp')
 
 AddOption('--extras',
           action='store_true',
@@ -52,14 +49,24 @@ AddOption('--no-thneed',
           dest='no_thneed',
           help='avoid using thneed')
 
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--no-test',
+          action='store_false',
+          dest='test',
+          default=os.path.islink(Dir('#laika/').abspath),
+          help='skip building test files')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
 
-if arch == "aarch64" and TICI:
+if arch == "aarch64" and AGNOS:
   arch = "larch64"
 
-USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -68,19 +75,14 @@ lenv = {
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
-if arch == "aarch64" or arch == "larch64":
+if arch == "larch64":
   lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
 
-  if arch == "aarch64":
-    # android
-    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
-    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
-
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -89,57 +91,49 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/local/lib",
     "/usr/lib",
     "/system/vendor/lib64",
-    "/system/comma/usr/lib",
     f"#third_party/acados/{arch}/lib",
   ]
 
-  if arch == "larch64":
-    libpath += [
-      "#third_party/snpe/larch64",
-      "#third_party/libyuv/larch64/lib",
-      "/usr/lib/aarch64-linux-gnu"
-    ]
-    cpppath += [
-      "#selfdrive/camerad/include",
-    ]
-    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath += ["/usr/local/lib"]
-  else:
-    rpath = []
-    libpath += [
-      "#third_party/snpe/aarch64",
-      "#third_party/libyuv/lib",
-      "/system/vendor/lib64"
-    ]
-    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
 else:
   cflags = []
   cxxflags = []
   cpppath = []
 
+  # MacOS
   if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#third_party/libyuv/{yuv_dir}/lib",
-      "/usr/local/lib",
-      "/opt/homebrew/lib",
-      "/usr/local/Homebrew/Library",
-      "/usr/local/opt/openssl/lib",
-      "/opt/homebrew/opt/openssl/lib",
-      "/usr/local/Cellar",
-      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
-      "/opt/homebrew/include",
-      "/usr/local/include",
-      "/usr/local/opt/openssl/include",
-      "/opt/homebrew/opt/openssl/include"
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl/include",
     ]
+  # Linux 86_64
   else:
     libpath = [
       "#third_party/acados/x86_64/lib",
@@ -147,7 +141,7 @@ else:
       "#third_party/libyuv/x64/lib",
       "#third_party/mapbox-gl-native-qt/x86_64",
       "#cereal",
-      "#selfdrive/common",
+      "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
@@ -155,7 +149,7 @@ else:
   rpath += [
     Dir("#third_party/snpe/x86_64-linux-clang").abspath,
     Dir("#cereal").abspath,
-    Dir("#selfdrive/common").abspath
+    Dir("#common").abspath
   ]
 
 if GetOption('asan'):
@@ -173,8 +167,8 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ["-DSWAGLOG"]
-cxxflags += ["-DSWAGLOG"]
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 env = Environment(
   ENV=lenv,
@@ -200,9 +194,7 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    "#third_party/bzip2",
     "#third_party/libyuv/include",
-    "#third_party/openmax/include",
     "#third_party/json11",
     "#third_party/curl/include",
     "#third_party/libgralloc/include",
@@ -231,7 +223,7 @@ env = Environment(
     "#third_party",
     "#opendbc/can",
     "#selfdrive/boardd",
-    "#selfdrive/common",
+    "#common",
   ],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
@@ -245,7 +237,7 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -261,6 +253,7 @@ if os.environ.get('SCONS_PROGRESS'):
 
 SHARED = False
 
+# TODO: this can probably be removed
 def abspath(x):
   if arch == 'aarch64':
     pth = os.path.join("/data/pythonpath", x[0].path)
@@ -270,7 +263,7 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-# Cython build enviroment
+# Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
@@ -289,9 +282,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
-if arch != "aarch64":
-  qt_modules += ["DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -306,22 +297,16 @@ if arch == "Darwin":
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
   qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-elif arch == "aarch64":
-  qt_env['QTDIR'] = "/system/comma/usr"
-  qt_dirs = [
-    f"/system/comma/usr/include/qt",
-  ]
-  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
 else:
-  qt_env['QTDIR'] = "/usr"
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
   qt_dirs = [
-    f"/usr/include/{real_arch}-linux-gnu/qt5",
-    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+    f"{qt_install_headers}",
+    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
   ]
-  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
   if arch == "larch64":
@@ -345,6 +330,7 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
 
 if GetOption("clazy"):
   checks = [
@@ -357,16 +343,16 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
 
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_gpucommon', '_gpu_libs')
+SConscript(['common/SConscript'])
+Import('_common', '_gpucommon')
 
 if SHARED:
   common, gpucommon = abspath(common), abspath(gpucommon)
 else:
   common = [_common, 'json11']
-  gpucommon = [_gpucommon] + _gpu_libs
+  gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
@@ -384,40 +370,56 @@ Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
   },
 }
 
-if arch not in ["aarch64", "larch64"]:
+if arch != "larch64":
   rednose_config['to_build'].update({
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
 SConscript(['rednose/SConscript'])
 
+# Build system services
+SConscript([
+  'system/camerad/SConscript',
+  'system/clocksd/SConscript',
+  'system/proclogd/SConscript',
+])
+if arch != "Darwin":
+  SConscript(['system/logcatd/SConscript'])
+
 # Build openpilot
 
-SConscript(['cereal/SConscript'])
-SConscript(['panda/board/SConscript'])
-SConscript(['opendbc/can/SConscript'])
+# build submodules
+SConscript([
+  'body/board/SConscript',
+  'cereal/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
 SConscript(['third_party/SConscript'])
 
-SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
@@ -425,20 +427,20 @@ SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
 
-if arch != "Darwin":
-  SConscript(['selfdrive/logcatd/SConscript'])
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
 
-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
+  opendbc = abspath([File('opendbc/can/libdbc.so')])
+  Export('opendbc')
+  SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

SECURITY.md

@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

body

@@ -0,0 +1 @@
+Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb

cereal

@@ -1 +1 @@
-Subproject commit 32eae5e80deb4d9b0f1422c1d0f5846e5b26144a
+Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e

common/SConscript

@@ -1,4 +1,33 @@
-Import('envCython', 'common')
+Import('env', 'envCython', 'arch', 'SHARED')
 
+if SHARED:
+  fxn = env.SharedLibrary
+else:
+  fxn = env.Library
+
+common_libs = [
+  'params.cc',
+  'statlog.cc',
+  'swaglog.cc',
+  'util.cc',
+  'gpio.cc',
+  'i2c.cc',
+  'watchdog.cc',
+]
+
+_common = fxn('common', common_libs, LIBS="json11")
+
+files = [
+  'clutil.cc',
+]
+
+_gpucommon = fxn('gpucommon', files)
+Export('_common', '_gpucommon')
+
+if GetOption('test'):
+  env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
+  env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])
+
+# Cython
 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])

common/api/__init__.py

@@ -3,7 +3,7 @@ import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import get_version
+from system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
@@ -22,13 +22,13 @@ class Api():
   def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
-  def get_token(self):
+  def get_token(self, expiry_hours=1):
     now = datetime.utcnow()
     payload = {
       'identity': self.dongle_id,
       'nbf': now,
       'iat': now,
-      'exp': now + timedelta(hours=1)
+      'exp': now + timedelta(hours=expiry_hours)
     }
     token = jwt.encode(payload, self.private_key, algorithm='RS256')
     if isinstance(token, bytes):

common/basedir.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 

common/clutil.cc

@@ -1,10 +1,10 @@
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 #include <cassert>
 #include <iostream>
 #include <memory>
 
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 namespace {  // helper functions
 
@@ -78,7 +78,8 @@ cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const ch
 }
 
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char*[]){src.c_str()}, NULL, &err));
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
   if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
     cl_print_build_errors(prg, device_id);
     assert(0);
@@ -87,7 +88,7 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
 }
 
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, (const uint8_t*[]){binary}, NULL, &err));
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
   if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
     cl_print_build_errors(prg, device_id);
     assert(0);

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/file_helpers.py

@@ -81,25 +81,12 @@ def _get_fileobject_func(writer, temp_dir):
     return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
-def monkeypatch_os_link():
-  # This is neccesary on EON/C2, where os.link is patched out of python
-  if not hasattr(os, 'link'):
-    from cffi import FFI
-    ffi = FFI()
-    ffi.cdef("int link(const char *oldpath, const char *newpath);")
-    libc = ffi.dlopen(None)
-
-    def link(src, dest):
-      return libc.link(src.encode(), dest.encode())
-    os.link = link
-
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
-  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -108,6 +95,5 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
-  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/gpio.cc

@@ -0,0 +1,65 @@
+#include "common/gpio.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cstring>
+#include <linux/gpio.h>
+#include <sys/ioctl.h>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+int gpio_init(int pin_nr, bool output) {
+  char pin_dir_path[50];
+  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
+                           "/sys/class/gpio/gpio%d/direction", pin_nr);
+  if(pin_dir_path_len <= 0) {
+    return -1;
+  }
+  const char *value = output ? "out" : "in";
+  return util::write_file(pin_dir_path, (void*)value, strlen(value));
+}
+
+int gpio_set(int pin_nr, bool high) {
+  char pin_val_path[50];
+  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
+                           "/sys/class/gpio/gpio%d/value", pin_nr);
+  if(pin_val_path_len <= 0) {
+    return -1;
+  }
+  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+
+  // Assumed that all interrupt pins are unexported and rights are given to
+  // read from gpiochip0.
+  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
+  int fd = open(gpiochip_path.c_str(), O_RDONLY);
+  if (fd < 0) {
+    LOGE("Error opening gpiochip0 fd")
+    return -1;
+  }
+
+  // Setup event
+  struct gpioevent_request rq;
+  rq.lineoffset = pin_nr;
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
+
+  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
+     very short(75us) and is mostly detected as falling edge instead of rising.
+     So if it is detected as rising the following falling edge is skipped. */
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
+
+  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
+  int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
+  if (ret == -1) {
+    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
+    close(fd);
+    return -1;
+  }
+
+  close(fd);
+  return rq.fd;
+}

common/gpio.h

@@ -8,6 +8,11 @@
   #define GPIO_UBLOX_PWR_EN     34
   #define GPIO_STM_RST_N        124
   #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
 #else
   #define GPIO_HUB_RST_N        0
   #define GPIO_UBLOX_RST_N      0
@@ -15,7 +20,14 @@
   #define GPIO_UBLOX_PWR_EN     0
   #define GPIO_STM_RST_N        0
   #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
 #endif
 
 int gpio_init(int pin_nr, bool output);
 int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);

common/gpio.py

@@ -1,14 +1,25 @@
-def gpio_init(pin, output):
+from typing import Optional
+
+def gpio_init(pin: int, output: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
       f.write(b"out" if output else b"in")
   except Exception as e:
     print(f"Failed to set gpio {pin} direction: {e}")
 
-
-def gpio_set(pin, high):
+def gpio_set(pin: int, high: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
       f.write(b"1" if high else b"0")
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> Optional[bool]:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val

common/i2c.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/common/i2c.h"
+#include "common/i2c.h"
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
@@ -8,9 +8,9 @@
 #include <cstdio>
 #include <stdexcept>
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 #define UNUSED(x) (void)(x)
 

common/kalman/tests/test_simple_kalman.py

@@ -36,8 +36,8 @@ class TestSimpleKalman(unittest.TestCase):
     self.assertEqual(self.kf.x, [[1.0], [1.0]])
 
   def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
+    x = self.kf.update(100)
+    self.assertEqual(x, self.kf.x)
 
   def test_old_equal_new(self):
     for _ in range(1000):

common/logging_extra.py

@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import time
 import uuid
 import socket
 import logging
@@ -11,6 +12,8 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
+
 def json_handler(obj):
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
@@ -163,6 +166,15 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
+  def timestamp(self, event_name):
+    if LOG_TIMESTAMPS:
+      t = time.monotonic()
+      tstp = NiceOrderedDict()
+      tstp['timestamp'] = NiceOrderedDict()
+      tstp['timestamp']["event"] = event_name
+      tstp['timestamp']["time"] = t*1e9
+      self.debug(tstp)
+
   def findCaller(self, stack_info=False, stacklevel=1):
     """
     Find the stack frame of the caller so that we can note the source
@@ -172,33 +184,33 @@ class SwagLogger(logging.Logger):
     #On some versions of IronPython, currentframe() returns None if
     #IronPython isn't run with -X:Frames.
     if f is not None:
-        f = f.f_back
+      f = f.f_back
     orig_f = f
     while f and stacklevel > 1:
-        f = f.f_back
-        stacklevel -= 1
+      f = f.f_back
+      stacklevel -= 1
     if not f:
-        f = orig_f
+      f = orig_f
     rv = "(unknown file)", 0, "(unknown function)", None
     while hasattr(f, "f_code"):
-        co = f.f_code
-        filename = os.path.normcase(co.co_filename)
-
-        # TODO: is this pylint exception correct?
-        if filename == _srcfile:  # pylint: disable=comparison-with-callable
-            f = f.f_back
-            continue
-        sinfo = None
-        if stack_info:
-            sio = io.StringIO()
-            sio.write('Stack (most recent call last):\n')
-            traceback.print_stack(f, file=sio)
-            sinfo = sio.getvalue()
-            if sinfo[-1] == '\n':
-                sinfo = sinfo[:-1]
-            sio.close()
-        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-        break
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+
+      # TODO: is this pylint exception correct?
+      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
     return rv
 
 if __name__ == "__main__":

common/markdown.py

@@ -1,48 +0,0 @@
-from typing import List
-
-HTML_REPLACEMENTS = [
-  (r'&', r'&'),
-  (r'"', r'"'),
-]
-
-
-def parse_markdown(text: str, tab_length: int = 2) -> str:
-  lines = text.split("\n")
-  output: List[str] = []
-  list_level = 0
-
-  def end_outstanding_lists(level: int, end_level: int) -> int:
-    while level > end_level:
-      level -= 1
-      output.append("</ul>")
-      if level > 0:
-        output.append("</li>")
-    return end_level
-
-  for i, line in enumerate(lines):
-    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
-      output.append(f"<h1>{line}</h1>")
-    elif line.startswith("==="):
-      pass
-    elif line.lstrip().startswith("* "):  # list
-      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
-      if list_level >= line_level:
-        list_level = end_outstanding_lists(list_level, line_level)
-      else:
-        list_level += 1
-        if list_level > 1:
-          output[-1] = output[-1].replace("</li>", "")
-        output.append("<ul>")
-      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
-    else:
-      list_level = end_outstanding_lists(list_level, 0)
-      if len(line) > 0:
-        output.append(line)
-
-  end_outstanding_lists(list_level, 0)
-  output_str = "\n".join(output) + "\n"
-
-  for (fr, to) in HTML_REPLACEMENTS:
-    output_str = output_str.replace(fr, to)
-
-  return output_str

common/modeldata.h

@@ -1,10 +1,10 @@
 #pragma once
 
 #include <array>
-#include "selfdrive/common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "common/mat.h"
+#include "system/hardware/hw.h"
 
-const int  TRAJECTORY_SIZE = 33;
+const int TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
 const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
@@ -24,21 +24,9 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-const int TICI_CAM_WIDTH = 1928;
-
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
-const mat3 fcam_intrinsic_matrix =
-    Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
-                              0., 910., 874.0 / 2,
-                              0., 0., 1.}}
-                    : (mat3){{2648.0, 0.0, 1928.0 / 2,
-                              0.0, 2648.0, 1208.0 / 2,
-                              0.0, 0.0, 1.0}};
+const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+                                           0.0, 2648.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
 
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
@@ -46,12 +34,13 @@ const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
-static inline mat3 get_model_yuv_transform(bool bayer = true) {
-  float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
+static inline mat3 get_model_yuv_transform() {
+  float db_s = 1.0;
   const mat3 transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,
     0.0, 0.0, 1.0
   }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+  // Can this be removed since scale is 1?
+  return transform_scale_buffer(transform, db_s);
 }

common/params.cc

@@ -1,14 +1,15 @@
-#include "selfdrive/common/params.h"
+#include "common/params.h"
 
 #include <dirent.h>
 #include <sys/file.h>
 
+#include <algorithm>
 #include <csignal>
 #include <unordered_map>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "system/hardware/hw.h"
 
 namespace {
 
@@ -60,9 +61,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
   return true;
 }
 
-std::string ensure_params_path(const std::string &path = {}) {
+std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
-  if (!create_params_path(params_path, params_path + "/d")) {
+  if (!create_params_path(params_path, params_path + prefix)) {
     throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
   }
   return params_path;
@@ -84,27 +85,32 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsPersistent", PERSISTENT},
     {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"CellularUnmetered", PERSISTENT},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DashcamOverride", PERSISTENT},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
-    {"DisableRadar_Allow", PERSISTENT},
-    {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
     {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"EnableWideCamera", CLEAR_ON_MANAGER_START},
-    {"EndToEndToggle", PERSISTENT},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
@@ -113,6 +119,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GithubUsername", PERSISTENT},
     {"GitRemote", PERSISTENT},
     {"GsmApn", PERSISTENT},
+    {"GsmMetered", PERSISTENT},
     {"GsmRoaming", PERSISTENT},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
@@ -124,31 +131,35 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
-    {"IsRHD", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastPeripheralPandaType", PERSISTENT},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
-    {"LastUpdateException", PERSISTENT},
+    {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
+    {"LiveTorqueCarParams", PERSISTENT},
+    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"NavSettingTime24h", PERSISTENT},
+    {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
-    {"PrimeRedirected", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReleaseNotes", PERSISTENT},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},
@@ -156,16 +167,26 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
+    {"WideCameraOnly", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"ApiCache_Owner", PERSISTENT},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
     {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START },
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
@@ -180,9 +201,18 @@ std::unordered_map<std::string, uint32_t> keys = {
 
 } // namespace
 
+
 Params::Params(const std::string &path) {
-  static std::string default_param_path = ensure_params_path();
-  params_path = path.empty() ? default_param_path : ensure_params_path(path);
+  prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
+  params_path = ensure_params_path(prefix, path);
+}
+
+std::vector<std::string> Params::allKeys() const {
+  std::vector<std::string> ret;
+  for (auto &p : keys) {
+    ret.push_back(p.first);
+  }
+  return ret;
 }
 
 bool Params::checkKey(const std::string &key) {
@@ -270,10 +300,13 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  std::string path;
-  for (auto &[key, type] : keys) {
-    if (type & key_type) {
-      unlink(getParamPath(key).c_str());
+  if (key_type == ALL) {
+    util::remove_files_in_dir(getParamPath());
+  } else {
+    for (auto &[key, type] : keys) {
+      if (type & key_type) {
+        unlink(getParamPath(key).c_str());
+      }
     }
   }
 

common/params.h

@@ -2,6 +2,7 @@
 
 #include <map>
 #include <string>
+#include <vector>
 
 enum ParamKeyType {
   PERSISTENT = 0x02,
@@ -15,10 +16,11 @@ enum ParamKeyType {
 class Params {
 public:
   Params(const std::string &path = {});
+  std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
-    return key.empty() ? params_path + "/d" : params_path + "/d/" + key;
+    return params_path + prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
@@ -27,8 +29,8 @@ public:
 
   // helpers for reading values
   std::string get(const std::string &key, bool block = false);
-  inline bool getBool(const std::string &key) {
-    return get(key) == "1";
+  inline bool getBool(const std::string &key, bool block = false) {
+    return get(key, block) == "1";
   }
   std::map<std::string, std::string> readAll();
 
@@ -43,4 +45,5 @@ public:
 
 private:
   std::string params_path;
+  std::string prefix;
 };

common/params.py

@@ -1,8 +1,9 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys

common/params_pyx.pyx

@@ -2,9 +2,10 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 import threading
 
-cdef extern from "selfdrive/common/params.h":
+cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
@@ -15,12 +16,14 @@ cdef extern from "selfdrive/common/params.h":
   cdef cppclass c_Params "Params":
     c_Params(string) nogil
     string get(string, bool) nogil
-    bool getBool(string) nogil
+    bool getBool(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     int putBool(string, bool) nogil
     bool checkKey(string) nogil
+    string getParamPath(string) nogil
     void clearAll(ParamKeyType)
+    vector[string] allKeys()
 
 
 def ensure_bytes(v):
@@ -65,11 +68,11 @@ cdef class Params:
 
     return val if encoding is None else val.decode(encoding)
 
-  def get_bool(self, key):
+  def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
     cdef bool r
     with nogil:
-      r = self.p.getBool(k)
+      r = self.p.getBool(k, block)
     return r
 
   def put(self, key, dat):
@@ -89,17 +92,20 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
-  def delete(self, key):
+  def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
       self.p.remove(k)
 
+  def get_param_path(self, key=""):
+    cdef string key_bytes = ensure_bytes(key)
+    return self.p.getParamPath(key_bytes).decode("utf-8")
+
+  def all_keys(self):
+    return self.p.allKeys()
+
 def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+  threading.Thread(target=lambda: Params(d).put(key, val)).start()
+
+def put_bool_nonblocking(key, bool val, d=""):
+  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()

common/realtime.py

@@ -2,23 +2,20 @@
 import gc
 import os
 import time
-import multiprocessing
-from typing import Optional
+from collections import deque
+from typing import Optional, List, Union
+
+from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC, TICI
+from system.hardware import PC
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
 DT_TRML = 0.5  # thermald and manager
-
-# driver monitoring
-if TICI:
-  DT_DMON = 0.05
-else:
-  DT_DMON = 0.1
+DT_DMON = 0.05  # driver monitoring
 
 
 class Priority:
@@ -34,29 +31,32 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member
 
 
-def set_core_affinity(core: int) -> None:
+def set_core_affinity(cores: List[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
+    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
 
 
-def config_realtime_process(core: int, priority: int) -> None:
+def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
-  set_core_affinity(core)
+  c = cores if isinstance(cores, list) else [cores, ]
+  set_core_affinity(c)
 
 
 class Ratekeeper:
-  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._process_name = multiprocessing.current_process().name
+    self._process_name = getproctitle()
+    self._dts = deque([self._interval], maxlen=100)
+    self._last_monitor_time = sec_since_boot()
 
   @property
   def frame(self) -> int:
@@ -66,6 +66,12 @@ class Ratekeeper:
   def remaining(self) -> float:
     return self._remaining
 
+  @property
+  def lagging(self) -> bool:
+    avg_dt = sum(self._dts) / len(self._dts)
+    expected_dt = self._interval * (1 / 0.9)
+    return avg_dt > expected_dt
+
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
     lagged = self.monitor_time()
@@ -75,6 +81,10 @@ class Ratekeeper:
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    prev = self._last_monitor_time
+    self._last_monitor_time = sec_since_boot()
+    self._dts.append(self._last_monitor_time - prev)
+
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval

common/statlog.cc

@@ -2,8 +2,8 @@
 #define _GNU_SOURCE
 #endif
 
-#include "selfdrive/common/statlog.h"
-#include "selfdrive/common/util.h"
+#include "common/statlog.h"
+#include "common/util.h"
 
 #include <stdio.h>
 #include <mutex>
@@ -17,6 +17,9 @@ class StatlogState : public LogState {
 static StatlogState s = {};
 
 static void log(const char* metric_type, const char* metric, const char* fmt, ...) {
+  std::lock_guard lk(s.lock);
+  if (!s.initialized) s.initialize();
+
   char* value_buf = nullptr;
   va_list args;
   va_start(args, fmt);

common/string_helpers.py

@@ -1,6 +0,0 @@
-def replace_right(s, old, new, occurrence):
-  # replace_right('1232425', '2', ' ', 1) -> '12324 5'
-  # replace_right('1232425', '2', ' ', 2) -> '123 4 5'
-
-  split = s.rsplit(old, occurrence)
-  return new.join(split)

common/swaglog.cc

@@ -2,25 +2,25 @@
 #define _GNU_SOURCE
 #endif
 
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 
 #include <cassert>
 #include <cstring>
+#include <limits>
 #include <mutex>
 #include <string>
 
 #include <zmq.h>
 #include "json11.hpp"
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "common/util.h"
+#include "common/version.h"
+#include "system/hardware/hw.h"
 
 class SwaglogState : public LogState {
  public:
   SwaglogState() : LogState("ipc:///tmp/logmessage") {}
 
-  bool initialized = false;
   json11::Json::object ctx_j;
 
   inline void initialize() {
@@ -50,19 +50,14 @@ class SwaglogState : public LogState {
     ctx_j["dirty"] = !getenv("CLEAN");
 
     // device type
-    if (Hardware::EON()) {
-      ctx_j["device"] =  "eon";
-    } else if (Hardware::TICI()) {
-      ctx_j["device"] =  "tici";
-    } else {
-      ctx_j["device"] =  "pc";
-    }
-
-    initialized = true;
+    ctx_j["device"] = Hardware::get_name();
+    LogState::initialize();
   }
 };
 
 static SwaglogState s = {};
+bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
+uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
 
 static void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
   if (levelnum >= s.print_level) {
@@ -72,22 +67,12 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
 
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) {
-  char* msg_buf = nullptr;
-  va_list args;
-  va_start(args, fmt);
-  int ret = vasprintf(&msg_buf, fmt, args);
-  va_end(args);
-
-  if (ret <= 0 || !msg_buf) return;
-
+static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
-
   if (!s.initialized) s.initialize();
 
-  json11::Json log_j = json11::Json::object {
-    {"msg", msg_buf},
+  json11::Json::object log_j = json11::Json::object {
     {"ctx", s.ctx_j},
     {"levelnum", levelnum},
     {"filename", filename},
@@ -95,7 +80,58 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     {"funcname", func},
     {"created", seconds_since_epoch()}
   };
-  std::string log_s = log_j.dump();
+  if (msg_j.empty()) {
+    log_j["msg"] = msg_buf;
+  } else {
+    log_j["msg"] = msg_j;
+  }
+
+  std::string log_s = ((json11::Json)log_j).dump();
   log(levelnum, filename, lineno, func, msg_buf, log_s);
   free(msg_buf);
 }
+
+void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
+                const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  char* msg_buf = nullptr;
+  int ret = vasprintf(&msg_buf, fmt, args);
+  va_end(args);
+  if (ret <= 0 || !msg_buf) return;
+  cloudlog_common(levelnum, filename, lineno, func, msg_buf);
+}
+
+void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
+                       uint32_t frame_id, const char* fmt, va_list args) {
+  if (!LOG_TIMESTAMPS) return;
+  char* msg_buf = nullptr;
+  int ret = vasprintf(&msg_buf, fmt, args);
+  if (ret <= 0 || !msg_buf) return;
+  json11::Json::object tspt_j = json11::Json::object{
+    {"event", msg_buf},
+    {"time", std::to_string(nanos_since_boot())}
+  };
+  if (frame_id < NO_FRAME_ID) {
+    tspt_j["frame_id"] = std::to_string(frame_id);
+  }
+  tspt_j = json11::Json::object{{"timestamp", tspt_j}};
+  cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
+}
+
+
+void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
+                 const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
+  va_end(args);
+}
+void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
+                 uint32_t frame_id, const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
+  va_end(args);
+}
+

common/swaglog.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/common/timing.h"
+#include "common/timing.h"
 
 #define CLOUDLOG_DEBUG 10
 #define CLOUDLOG_INFO 20
@@ -9,13 +9,24 @@
 #define CLOUDLOG_CRITICAL 50
 
 
-
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
+void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
+                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+
+void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
+                 uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, \
-                                           fmt, ## __VA_ARGS__)
+                                           fmt, ## __VA_ARGS__);
+ 
+#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
+                                          __func__, \
+                                          __VA_ARGS__);
+
 
 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \
 {                                                   \
@@ -46,6 +57,8 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
   }                                                 \
 }
 
+
+#define LOGT(...) cloudlog_t(CLOUDLOG_DEBUG, __VA_ARGS__)
 #define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
 #define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
 #define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)

common/tests/test_markdown.py

@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-from markdown_it import MarkdownIt
-import os
-import unittest
-
-from common.basedir import BASEDIR
-from common.markdown import parse_markdown
-
-
-class TestMarkdown(unittest.TestCase):
-  # validate that our simple markdown parser produces the same output as `markdown_it` from pip
-  def test_current_release_notes(self):
-    self.maxDiff = None
-
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
-      for r in f.read().split("\n\n"):
-
-        # No hyperlink support is ok
-        if '[' in r:
-          continue
-
-        self.assertEqual(MarkdownIt().render(r), parse_markdown(r))
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_params.py

@@ -4,7 +4,7 @@ import tempfile
 import shutil
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
+from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -59,13 +59,13 @@ class TestParams(unittest.TestCase):
     with self.assertRaises(UnknownKeyName):
       self.params.put_bool("swag", True)
 
-  def test_delete_not_there(self):
+  def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
-    self.params.delete("CarParams")
+    self.params.remove("CarParams")
     assert self.params.get("CarParams") is None
 
   def test_get_bool(self):
-    self.params.delete("IsMetric")
+    self.params.remove("IsMetric")
     self.assertFalse(self.params.get_bool("IsMetric"))
 
     self.params.put_bool("IsMetric", True)
@@ -89,6 +89,23 @@ class TestParams(unittest.TestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params(self.tmpdir)
+    def _delayed_writer():
+      time.sleep(0.1)
+      put_bool_nonblocking("CarParams", True, self.tmpdir)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
+  def test_params_all_keys(self):
+    keys = Params().all_keys()
+
+    # sanity checks
+    assert len(keys) > 20
+    assert len(keys) == len(set(keys))
+    assert b"CarParams" in keys
+
 
 if __name__ == "__main__":
   unittest.main()

common/tests/test_swaglog.cc

@@ -4,10 +4,10 @@
 #include "catch2/catch.hpp"
 
 #include "json11.hpp"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "common/version.h"
+#include "system/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
@@ -56,12 +56,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
 
     REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
 
-    std::string device = "pc";
-    if (Hardware::EON()) {
-      device = "eon";
-    } else if (Hardware::TICI()) {
-      device = "tici";
-    }
+    std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);
 
     int thread_id = atoi(msg["msg"].string_value().c_str());

common/tests/test_util.cc

@@ -10,7 +10,7 @@
 
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 std::string random_bytes(int size) {
   std::random_device rd;
@@ -136,10 +136,27 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);
     REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
   }
-  SECTION("end with slashs") {
+  SECTION("end with slashes") {
     REQUIRE(util::create_directories(dir + "/", 0755));
   }
   SECTION("empty") {
     REQUIRE(util::create_directories("", 0755) == false);
   }
 }
+
+TEST_CASE("util::remove_files_in_dir") {
+  std::string tmp_dir = "/tmp/test_remove_all_in_dir";
+  system("rm /tmp/test_remove_all_in_dir -rf");
+  REQUIRE(util::create_directories(tmp_dir, 0755));
+  const int tmp_file_cnt = 10;
+  for (int i = 0; i < tmp_file_cnt; ++i) {
+    std::string tmp_file = tmp_dir + "/test_XXXXXX";
+    int fd = mkstemp((char*)tmp_file.c_str());
+    close(fd);
+    REQUIRE(util::file_exists(tmp_file.c_str()));
+  }
+
+  REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
+  util::remove_files_in_dir(tmp_dir);
+  REQUIRE(util::read_files_in_dir(tmp_dir).empty());
+}

common/tests/test_xattr.py

@@ -1,47 +0,0 @@
-import os
-import tempfile
-import shutil
-import unittest
-
-from common.xattr import getxattr, setxattr, listxattr, removexattr
-
-class TestParams(unittest.TestCase):
-  USER_TEST='user.test'
-  def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    self.tmpfn = os.path.join(self.tmpdir, 'test.txt')
-    open(self.tmpfn, 'w').close()
-    #print("using", self.tmpfn)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
-
-  def test_getxattr_none(self):
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a is None
-
-  def test_listxattr_none(self):
-    l = listxattr(self.tmpfn)
-    assert l == []
-
-  def test_setxattr(self):
-    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a == b'123'
-
-  def test_listxattr(self):
-    setxattr(self.tmpfn, 'user.test1', b'123')
-    setxattr(self.tmpfn, 'user.test2', b'123')
-    l = listxattr(self.tmpfn)
-    assert l == ['user.test1', 'user.test2']
-
-  def test_removexattr(self):
-    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a == b'123'
-    removexattr(self.tmpfn, TestParams.USER_TEST)
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a is None
-
-if __name__ == "__main__":
-  unittest.main()

common/transformations/README.md

@@ -24,7 +24,7 @@ by generating a rotation matrix and multiplying.
 
 
 
-Orientation Conventations
+Orientation Conventions
 ------
 Quaternions, rotation matrices and euler angles are three
 equivalent representations of orientation and all three are

common/transformations/camera.py

@@ -1,7 +1,6 @@
 import numpy as np
 
 import common.transformations.orientation as orient
-from selfdrive.hardware import TICI
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
@@ -45,14 +44,9 @@ tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
 tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
 
 
-if not TICI:
-  FULL_FRAME_SIZE = eon_f_frame_size
-  FOCAL = eon_f_focal_length
-  fcam_intrinsics = eon_fcam_intrinsics
-else:
-  FULL_FRAME_SIZE = tici_f_frame_size
-  FOCAL = tici_f_focal_length
-  fcam_intrinsics = tici_fcam_intrinsics
+FULL_FRAME_SIZE = tici_f_frame_size
+FOCAL = tici_f_focal_length
+fcam_intrinsics = tici_fcam_intrinsics
 
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
 
@@ -83,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
   device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -100,12 +95,6 @@ def vp_from_ke(m):
   return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -169,11 +158,3 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
 
-
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
-  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
-  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
-  return camera_frame_from_calib_frame

common/transformations/model.py

@@ -1,10 +1,7 @@
 import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           FOCAL,
-                                           get_view_frame_from_road_frame,
-                                           get_view_frame_from_calib_frame,
-                                           vp_from_ke)
+                                           get_view_frame_from_calib_frame)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
                    [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
 segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 
-# model
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
-MODEL_CY = 21.
-
-model_fl = 728.0
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array([
-  [model_fl,  0.0,  MODEL_CX],
-  [0.0,  model_fl,  MODEL_CY],
-  [0.0,  0.0,            1.0]])
-
 
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
@@ -42,18 +24,6 @@ medmodel_intrinsics = np.array([
   [0.0,  0.0,                                   1.0]])
 
 
-# CAL model
-CALMODEL_INPUT_SIZE = (512, 256)
-CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
-CALMODEL_CY = 47.6
-
-calmodel_fl = 606.7
-calmodel_intrinsics = np.array([
-  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
-  [0.0,  calmodel_fl,                   CALMODEL_CY],
-  [0.0,  0.0,                                   1.0]])
-
-
 # BIG model
 BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -75,104 +45,73 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
 
 sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, 0],
-    [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, height - model_height],
-    [0, 0, 1],
-  ]))
-
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_zoom = camera_fl / model_fl
-  model_camera_from_model_frame = np.array([
-    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
-    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
-    [0.0,  0.0,                                   1.0],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001:
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
-
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
+### This function mimics the update_calibration logic in modeld.cc
+### Manually verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
-  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-  return camera_frame_from_medmodel_frame
+  if big_model:
+    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
+  else:
+    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(medmodel_from_calib)
+  device_from_calib = rot_from_euler(rpy_calib)
+  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
+  warp_matrix = camera_from_calib.dot(calib_from_model)
+  return warp_matrix
 
 
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+### This is old, just for debugging
+def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
 
-  return camera_frame_from_bigmodel_frame
+  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+    view_from_road = view_frame_from_device_frame.dot(device_from_road)
+    return np.hstack((view_from_road, [[0], [height], [0]]))
 
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-def get_model_frame(snu_full, camera_frame_from_model_frame, size):
-  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
-                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
-  if len(snu_full.shape) == 3:
-    calib = calib_flat.reshape((size[1], size[0], 3))
-  elif len(snu_full.shape) == 2:
-    calib = calib_flat.reshape((size[1], size[0]))
+  model_height = 1.22
+  if big_model:
+    model_from_road = np.dot(sbigmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
   else:
-    raise ValueError("shape of input img is weird")
-  return calib
+    model_from_road = np.dot(medmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
+  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
+
+  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
+  camera_frame_from_road_frame = intrinsics.dot(E)
+  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
+  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  return warp_matrix

common/transformations/orientation.py

@@ -1,5 +1,6 @@
 # pylint: skip-file
 import numpy as np
+from typing import Callable
 
 from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
@@ -11,7 +12,7 @@ from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     rot2quat_single)
 
 
-def numpy_wrap(function, input_shape, output_shape):
+def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]:
   """Wrap a function to take either an input or list of inputs and return the correct shape"""
   def f(*inps):
     *args, inp = inps

common/util.cc

@@ -1,5 +1,6 @@
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
+#include <sys/ioctl.h>
 #include <sys/stat.h>
 #include <dirent.h>
 
@@ -97,6 +98,22 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
+void remove_files_in_dir(const std::string &path) {
+  DIR *d = opendir(path.c_str());
+  if (!d) return;
+
+  std::string fn;
+  struct dirent *de = NULL;
+  while ((de = readdir(d))) {
+    if (de->d_type != DT_DIR) {
+      fn = path + "/" + de->d_name;
+      unlink(fn.c_str());
+    }
+  }
+
+  closedir(d);
+}
+
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
@@ -133,6 +150,14 @@ int safe_fflush(FILE *stream) {
   return ret;
 }
 
+int safe_ioctl(int fd, unsigned long request, void *argp) {
+  int ret;
+  do {
+    ret = ioctl(fd, request, argp);
+  } while ((ret == -1) && (errno == EINTR));
+  return ret;
+}
+
 std::string readlink(const std::string &path) {
   char buff[4096];
   ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);

common/util.h

@@ -80,11 +80,13 @@ std::string dir_name(std::string const& path);
 // **** file fhelpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
+void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
+int safe_ioctl(int fd, unsigned long request, void *argp);
 
 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
@@ -168,12 +170,18 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
 
 class LogState {
  public:
+  bool initialized = false;
   std::mutex lock;
-  void *zctx;
-  void *sock;
+  void *zctx = nullptr;
+  void *sock = nullptr;
   int print_level;
+  const char* endpoint;
 
-  LogState(const char* endpoint) {
+  LogState(const char* _endpoint) {
+    endpoint = _endpoint;
+  }
+
+  inline void initialize() {
     zctx = zmq_ctx_new();
     sock = zmq_socket(zctx, ZMQ_PUSH);
 
@@ -182,9 +190,13 @@ class LogState {
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
     zmq_connect(sock, endpoint);
-  };
+    initialized = true;
+  }
+
   ~LogState() {
-    zmq_close(sock);
-    zmq_ctx_destroy(zctx);
+    if (initialized) {
+      zmq_close(sock);
+      zmq_ctx_destroy(zctx);
+    }
   }
 };

common/version.h

@@ -0,0 +1 @@
+#define COMMA_VERSION "0.9.1"

common/watchdog.cc

@@ -1,12 +1,9 @@
-#include "selfdrive/common/watchdog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/watchdog.h"
+#include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick() {
+bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-
-  uint64_t ts = nanos_since_boot();
   return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
 }

common/watchdog.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include <cstdint>
+
+bool watchdog_kick(uint64_t ts);

common/window.py

@@ -2,7 +2,7 @@ import sys
 import pygame  # pylint: disable=import-error
 import cv2  # pylint: disable=import-error
 
-class Window():
+class Window:
   def __init__(self, w, h, caption="window", double=False, halve=False):
     self.w = w
     self.h = h
@@ -54,7 +54,7 @@ class Window():
 if __name__ == "__main__":
   import numpy as np
   win = Window(200, 200, double=True)
-  img = np.zeros((200, 200, 3), np.uint8)
+  img: np.ndarray = np.zeros((200, 200, 3), np.uint8)
   while 1:
     print("draw")
     img += 1

common/xattr.py

@@ -1,5 +1,6 @@
 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()
@@ -11,7 +12,7 @@ int removexattr(const char *path, const char *name);
 """)
 libc = ffi.dlopen(None)
 
-def setxattr(path, name, value, flags=0):
+def setxattr(path, name, value, flags=0) -> None:
   path = path.encode()
   name = name.encode()
   if libc.setxattr(path, name, value, len(value), flags) == -1:
@@ -29,7 +30,7 @@ def getxattr(path, name, size=128):
     raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
   return ffi.buffer(value)[:l]
 
-def listxattr(path, size=128):
+def listxattr(path, size=128) -> List[Any]:
   path = path.encode()
   attrs = ffi.new(f"char[{size}]")
   l = libc.listxattr(path, attrs, size)
@@ -38,7 +39,7 @@ def listxattr(path, size=128):
   # 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):
+def removexattr(path, name) -> None:
   path = path.encode()
   name = name.encode()
   if libc.removexattr(path, name) == -1:

docs/CARS.md

@@ -1,185 +1,284 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
 # Supported Cars
 
-## comma.ai supported cars
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | e 2020                        | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Freed 2020                    | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
-| Honda     | Passport 2019-21              | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Pilot 2016-21                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
-| Hyundai   | Sonata 2020-22                | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | NX 2018-2019                  | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RC 2020                       | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Alphard 2019-20               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon 2022                   | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2021-22          | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-21                  | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020-22               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-22     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hybrid 2020-22        | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020-22            | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020-22     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Mirai 2021                    | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021-22                 | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius v 2017                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2021-22           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-
-<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-
-## Community Maintained Cars and Features
-
-| Make      | Model (US Market Reference)     | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-19                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | A3 Sportback e-tron 2017-18     | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | Q2 2018                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | Q3 2020-21                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | S3 2015                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Cadillac  | Escalade ESV 2016<sup>1</sup>   | ACC + LKAS        | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chrysler  | Pacifica 2017-18                | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica 2020                   | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Chrysler  | Pacifica Hybrid 2017-18         | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-21         | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Genesis   | G70 2018                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G70 2020                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G80 2018                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018                        | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia 2018<sup>1</sup>         | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19                 | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Elantra 2021-22                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra Hybrid 2021             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Genesis 2015-16                 | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019             | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Electric 2020             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq Hybrid 2017-19            | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Hybrid 2020-22            | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq PHEV 2020-21              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona 2020                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona EV 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona Hybrid 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019-20                | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2021-22                | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe Hybrid 2022            | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe Plug-in Hybrid 2022    | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2018-2019                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata Hybrid 2021-22           | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Veloster 2019-20                | SCC + LKAS        | Stock            | 5mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18          | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019-20          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Ceed 2019                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Forte 2018-21                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | K5 2021-22                      | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2019-22                 | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Niro Hybrid 2021                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro PHEV 2019                  | SCC + LKAS        | Stock            | 10mph              | 32mph        |
-| Kia       | Optima 2017                     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Kia       | Optima 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Seltos 2021                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018                    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Telluride 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Mazda     | CX-5 2022                       | All               | Stock            | 0mph               | 0mph         |
-| Mazda     | CX-9 2021                       | All               | Stock            | 0mph               | 28mph        |
-| Nissan    | Altima 2019-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-22                    | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-20                   | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017                    | ProPILOT          | Stock            | 0mph               | 0mph         |
-| SEAT      | Ateca 2018                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| SEAT      | Leon 2014-2020                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Subaru    | Ascent 2019                     | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-21                | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2017-19                 | EyeSight          | Stock            | 0mph               | 0mph         |
-| Škoda     | Kamiq 2021<sup>2</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Karoq 2019                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Kodiaq 2018-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia 2015, 2018-19           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia RS 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Scala 2020                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Superb 2015-18                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Arteon 2018, 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Caravelle 2020<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 32mph        |
-| Volkswagen| California 2021<sup>4</sup>     | Driver Assistance | Stock            | 0mph               | 32mph        |
-| Volkswagen| e-Golf 2014, 2019-20            | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2015-20                    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf Alltrack 2017-18           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTE 2016                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTI 2018-20                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf R 2016-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportsVan 2016             | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportWagen 2015            | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta 2018-20                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta GLI 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Passat 2016-18<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Polo 2020                       | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| T-Cross 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| T-Roc 2021<sup>4</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Taos 2022<sup>4</sup>           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Tiguan 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Touran 2017                     | Driver Assistance | Stock            | 0mph               | 0mph         |
-
-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
-remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
-in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
-
-To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+
+# 219 Supported Cars
+
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
+|Hyundai|Elantra 2021-22|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)](##)|Hyundai K|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Elantra Hybrid 2021-23|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)](##)|Hyundai K|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
+|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Kona 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)](##)|Hyundai B|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
+|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)](##)|Hyundai I|
+|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)](##)|Hyundai H|
+|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|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)](##)|Hyundai D|
+|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Sonata 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)](##)|Hyundai A|
+|Hyundai|Sonata Hybrid 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)](##)|Hyundai A|
+|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)](##)|Hyundai L|
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|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)](##)|Hyundai L|
+|Hyundai|Tucson Hybrid 2022[<sup>5</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)](##)|Hyundai N|
+|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)](##)|Hyundai E|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
+|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Kia|Forte 2019-21|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)](##)|Hyundai G|
+|Kia|K5 2021-22|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)](##)|Hyundai A|
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|Niro Hybrid 2021|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)](##)|Hyundai F|
+|Kia|Niro Hybrid 2022|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)](##)|Hyundai H|
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
+|Kia|Seltos 2021|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)](##)|Hyundai A|
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Kia|Sportage Hybrid 2023[<sup>5</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)](##)|Hyundai N|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Kia|Telluride 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)](##)|Hyundai H|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|RX 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)](##)|Toyota|
+|Lexus|RX 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)](##)|Toyota|
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|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)](##)|Toyota|
+|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)](##)|Toyota|
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
+|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Avalon 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)](##)|Toyota|
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Prius 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-empty.svg)](##)|Toyota|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|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)](##)|Toyota|
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|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)](##)|Toyota|
+|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)](##)|Toyota|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|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)](##)|Toyota|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+
+<a id="footnotes"></a>
+<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
+<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
+## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
+
+### Which cars are able to be supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
+
+If your car has the following packages or features, then it's a good candidate for support.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+openpilot does not yet support these Toyota models due to a new message authentication method.
+[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+
+* Toyota RAV4 Prime 2021+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+

docs/INTEGRATION.md

@@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * Stock ACC is replaced by openpilot ACC.
 * openpilot FCW operates in addition to stock FCW.
 
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

docs/Makefile

@@ -32,7 +32,7 @@ clean:
 	@echo "Copying docs & config to build folder..."
 	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
 	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" \) \
+		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
 			-not -path "*/.*" \
 			-not -path "./build/*" \
 			-not -path "./docs/*" \

docs/SAFETY.md

@@ -22,7 +22,7 @@ Following Hazard and Risk Analysis and FMEA, at a very high level, we have desig
 ensuring two main safety requirements.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
+   by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
    to operate within reasonable limits.

docs/assets/icon-star-empty.svg

@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg1425"
+   sodipodi:docname="icon-star-empty.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata1431">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs1429" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="631"
+     id="namedview1427"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="8.9999925"
+     inkscape:window-x="0"
+     inkscape:window-y="1267"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg1425" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path1423"
+     inkscape:connector-curvature="0"
+     style="stroke:#b7b7b7" />
+</svg>

docs/assets/icon-star-full.svg

@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg817"
+   sodipodi:docname="icon-star-full.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata823">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs821" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="1898"
+     id="namedview819"
+     showgrid="false"
+     inkscape:zoom="20.005229"
+     inkscape:cx="8.4325646"
+     inkscape:cy="3.9969093"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg817" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path815"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543;stroke:#f0a43b" />
+</svg>

docs/assets/icon-star-half.svg

@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19.000008"
+   viewBox="0 0 19.999983 19.000008"
+   version="1.1"
+   id="svg831"
+   sodipodi:docname="icon-star-half.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata837">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs835" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="948"
+     id="namedview833"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="9"
+     inkscape:window-x="0"
+     inkscape:window-y="950"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg831" />
+  <path
+     d="M 10.000002,8.1671631e-6 V 15.270008 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 Z"
+     id="path825"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path827"
+     inkscape:connector-curvature="0"
+     style="stroke:#b7b7b7" />
+  <path
+     d="m 5.3322621,16.919208 3.66774,-2.2137 0.9999999,-0.6055 v 1.17 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 10.000002,8.1671631e-6 V 2.6000082 l -0.9999999,2.32203 -1.1246,2.65341 -5.42923,0.46066 4.12481,3.5732998 z"
+     id="path829"
+     inkscape:connector-curvature="0"
+     style="fill:#f0a43b" />
+</svg>

docs/c_docs.rst

@@ -28,11 +28,9 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
-.. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
@@ -50,15 +48,11 @@ soundd
 .. autodoxygenindex::
    :project: selfdrive_ui_soundd
 
-navd
-""""
-.. autodoxygenindex::
-   :project: selfdrive_ui_navd
 
 replay
 """"""
 .. autodoxygenindex::
-   :project: selfdrive_ui_replay
+   :project: tools_replay
 
 qt
 ""
@@ -70,7 +64,7 @@ qt
 proclogd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_proclogd
+   :project: system_proclogd
 
 modeld
 ^^^^^^
@@ -78,15 +72,13 @@ modeld
    :project: selfdrive_modeld_transforms
 .. autodoxygenindex::
    :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_thneed
 .. autodoxygenindex::
    :project: selfdrive_modeld_runners
 
 common
 ^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_common
+   :project: common
 
 sensorsd
 ^^^^^^^^

docs/conf.py

@@ -14,10 +14,12 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
-from os.path import exists
 import sys
-from selfdrive.version import get_version
+from os.path import exists
+
 from common.basedir import BASEDIR
+from system.version import get_version
+
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
 

docs/docker/Dockerfile

@@ -4,16 +4,11 @@ ENV PYTHONUNBUFFERED 1
 
 ENV OPENPILOT_PATH /home/batman/openpilot/
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV POETRY_VIRUALENVS_CREATE false
 
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY Pipfile Pipfile.lock $OPENPILOT_PATH
-RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
-    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv
-
-
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
@@ -30,6 +25,7 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
 RUN scons -j$(nproc)

installer/updater/updater

@@ -1,2 +0,0 @@
-#!/usr/bin/bash
-echo "this is a compatability shim for old updaters"

laika_repo

@@ -1 +1 @@
-Subproject commit dec99a0f77328f7a9f104020d98d7227345d1288
+Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55

launch_chffrplus.sh

@@ -8,110 +8,13 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-function two_init {
-
-  # set IO scheduler
-  setprop sys.io.scheduler noop
-  for f in /sys/block/*/queue/scheduler; do
-    echo noop > $f
-  done
-
-  # *** shield cores 2-3 ***
-
-  # TODO: should we enable this?
-  # offline cores 2-3 to force recurring timers onto the other cores
-  #echo 0 > /sys/devices/system/cpu/cpu2/online
-  #echo 0 > /sys/devices/system/cpu/cpu3/online
-  #echo 1 > /sys/devices/system/cpu/cpu2/online
-  #echo 1 > /sys/devices/system/cpu/cpu3/online
-
-  # android gets two cores
-  echo 0-1 > /dev/cpuset/background/cpus
-  echo 0-1 > /dev/cpuset/system-background/cpus
-  echo 0-1 > /dev/cpuset/foreground/cpus
-  echo 0-1 > /dev/cpuset/foreground/boost/cpus
-  echo 0-1 > /dev/cpuset/android/cpus
-
-  # openpilot gets all the cores
-  echo 0-3 > /dev/cpuset/app/cpus
-
-  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
-  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
-  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
-
-  # *** set up governors ***
-
-  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
-  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
-  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
-  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
-
-  # unclear if these help, but they don't seem to hurt
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
-
-  # GPU
-  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
-
-  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
-  # it seems to gain nothing but a wasted 500mW
-
-  # *** set up IRQ affinities ***
-
-  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
-  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
-  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
-  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
-  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
-
-  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
-
-  # GPU and camera get cpu 2
-  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
-  for irq in $CAM_IRQS; do
-    echo 2 > /proc/irq/$irq/smp_affinity_list
-  done
-  echo 2 > /proc/irq/193/smp_affinity_list # GPU
-
-  # give GPU threads RT priority
-  for pid in $(pgrep "kgsl"); do
-    chrt -f -p 52 $pid
-  done
-
-  # the flippening!
-  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
-
-  # disable bluetooth
-  service call bluetooth_manager 8
-
-  # wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
-  # Check for NEOS update
-  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
-    echo "Installing NEOS update"
-    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
-    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
-    $NEOS_PY --swap-if-ready $MANIFEST
-    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
-  fi
-}
-
-function tici_init {
+function agnos_init {
   # wait longer for weston to come up
   if [ -f "$BASEDIR/prebuilt" ]; then
     sleep 3
   fi
 
-  # setup governors
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
-
   # TODO: move this to agnos
-  # network manager config
-  nmcli connection modify --temporary lte gsm.auto-config yes
-  nmcli connection modify --temporary lte gsm.home-only yes
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
   # set success flag for current boot slot
@@ -119,12 +22,12 @@ function tici_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -159,7 +62,6 @@ function launch {
           cd $BASEDIR
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset REQUIRED_NEOS_VERSION
           unset AGNOS_VERSION
           exec "${LAUNCHER_LOCATION}"
         else
@@ -175,11 +77,7 @@ function launch {
   export PYTHONPATH="$PWD:$PWD/pyextra"
 
   # hardware specific init
-  if [ -f /EON ]; then
-    two_init
-  elif [ -f /TICI ]; then
-    tici_init
-  fi
+  agnos_init
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log

launch_env.sh

@@ -6,12 +6,8 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
-if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="19.1"
-fi
-
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="4"
+  export AGNOS_VERSION="6.2"
 fi
 
 if [ -z "$PASSIVE" ]; then

models/README.md

@@ -1,109 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Supercombo
-### Supercombo input format (Full size: 393738 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **desire**
-  * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
-
-
-### Supercombo output format (Full size: 6472 x float32)
-* **plan**
-  * 5 potential desired plan predictions : 4955 = 5 * 991
-    * predicted mean and standard deviation of the following values at 33 timesteps : 990 = 2 * 33 * 15
-      * x,y,z position in current frame (meters)
-      * x,y,z velocity in local frame (meters/s)
-      * x,y,z acceleration local frame (meters/(s*s))
-      * roll, pitch , yaw in current frame (radians)
-      * roll, pitch , yaw rates in local frame (radians/s)
-    * probability[^1] of this plan hypothesis being the most likely: 1
-* **lanelines**
-  * 4 lanelines (outer left, left, right, and outer right): 528 = 4 * 132
-    * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2
-      * y position in current frame (meters)
-      * z position in current frame (meters)
-* **laneline probabilties**
-  * 2 probabilities[^1] that each of the 4 lanelines exists : 8 = 4 * 2
-    * deprecated probability
-    * used probability
-* **road-edges**
-  * 2 road-edges (left and right): 264 = 2 * 132
-    * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2
-      * y position in current frame (meters)
-      * z position in current frame (meters)
-* **leads**
-  * 2 hypotheses for potential lead cars : 102 = 2 * 51
-    * predicted mean and stadard deviation for the following values at 0,2,4,6,8,10s : 48 = 2 * 6 * 4
-      * x position of lead in current frame (meters)
-      * y position of lead in current frame (meters)
-      * speed of lead (meters/s)
-      * acceleration of lead(meters/(s*s))
-    * probabilities[^1] this hypothesis is the most likely hypothesis at 0s, 2s or 4s from now : 3
-* **lead probabilities**
-  * probability[^1] that there is a lead car at 0s, 2s, 4s from now : 3 = 1 * 3
-* **desire state**
-  * probability[^1] that the model thinks it is executing each of the 8 potential desire actions : 8
-* **meta** [^2]
-  * Various metadata about the scene : 80 = 1 + 35 + 12 + 32
-    * Probability[^1] that openpilot is engaged : 1
-    * Probabilities[^1] of various things happening between now and 2,4,6,8,10s : 35 = 5 * 7
-      * Disengage of openpilot with gas pedal
-      * Disengage of openpilot with brake pedal
-      * Override of openpilot steering
-      * 3m/(s*s) of deceleration
-      * 4m/(s*s) of deceleration
-      * 5m/(s*s) of deceleration
-    * Probabilities[^1] of left or right blinker being active at 0,2,4,6,8,10s : 12 = 6 * 2
-    * Probabilities[^1] that each of the 8 desires is being executed at 0,2,4,6s : 32 = 4 * 8
-
-* **pose** [^2]
-  * predicted mean and standard deviation of current translation and rotation rates : 12 = 2 * 6
-    * x,y,z velocity in current frame (meters/s)
-    * roll, pitch , yaw rates in current frame (radians/s)
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
-
-[^1]: All probabilities are in logits, so you need to apply sigmoid or softmax functions to get actual probabilities
-[^2]: These outputs come directly from the vision blocks, they do not have access to temporal state or the desire input
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image (640 * 320 * 3 in RGB):
-  * full input size is 6 * 640/2 * 320/2 = 307200
-  * represented in YUV420 with 6 channels:
-    * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-    * Channel 4 represents the half-res U channel
-    * Channel 5 represents the half-res V channel
-  * normalized, ranging from -1.0 to 1.0
-
-### output format
-* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165))
-  * face pose: 12 = 6 + 6
-    * face orientation [pitch, yaw, roll] in camera frame: 3
-    * face position [dx, dy] relative to image center: 2
-    * normalized face size: 1
-    * standard deviations for above outputs: 6
-  * face visible probability: 1
-  * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-    * eye position and size, and their standard deviations: 8
-    * eye visible probability: 1
-    * eye closed probability: 1
-  * wearing sunglasses probability: 1
-  * poor camera vision probability: 1
-  * face partially out-of-frame probability: 1
-  * (deprecated) distracted probabilities: 2
-  * face covered probability: 1

models/big_supercombo.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
-size 72718099

models/big_supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
-size 73147489

models/dmonitoring_model.current

@@ -1,2 +0,0 @@
-4e19be90-bd5b-485d-b79a-2462f7f1b49e
-08f7ec37b78228cd1cb750b6ddb9c6ba1769e911

models/dmonitoring_model.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:895ee32e2a1c77496e015270db475eef65034b25331f2859bac0ccf702f64298
-size 3294407

models/dmonitoring_model_q.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6e4ac870984d11cd8e86cda4a63e3321fde837bacf4a055a27b7c8ba34facfe2
-size 916079

models/supercombo.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:209e9544e456dbc2a7d60490da65154e129bc84830909d8d931f97b3df93949b
-size 56684955

models/supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2365bae967cce21ce68707c30bf2981bb7081ee5c3e6a3dff793e660f23ff622
-size 57554657

mypy.ini

@@ -1,4 +1,16 @@
 [mypy]
 python_version = 3.8
+plugins = numpy.typing.mypy_plugin
+files = body, common, docs, scripts, selfdrive, site_scons, system, tools
+exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
+
+; third-party packages
 ignore_missing_imports = True
 
+; helpful warnings
+warn_redundant_casts = True
+warn_unreachable = True
+warn_unused_ignores = True
+
+; restrict dynamic typing
+warn_return_any = True

opendbc

@@ -1 +1 @@
-Subproject commit 46a942d6790531cf5b94b14266140e43afcfda3e
+Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7

panda

@@ -1 +1 @@
-Subproject commit cb88a1756ba2b8b06e06102691c75f8aa87f687b
+Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458