Merge branch 'master' into os_10x2

.github/workflows/stale.yaml

@@ -19,8 +19,9 @@ jobs:
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 

.github/workflows/tools_tests.yaml

@@ -31,7 +31,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.3.3
+    rev: v0.3.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.1
     hooks:
     -   id: check-github-workflows

Jenkinsfile

@@ -142,6 +142,23 @@ def setupCredentials() {
 }
 
 
+def build_release(String channel_name) {
+  return parallel (
+    "${channel_name} (git)": {
+      deviceStage("build git", "tici-needs-can", [], [
+        ["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_release.sh"],
+      ])
+    },
+    "${channel_name} (casync)": {
+      deviceStage("build casync", "tici-needs-can", [], [
+        ["build ${channel_name}", "RELEASE=1 OPENPILOT_CHANNEL=${channel_name} BUILD_DIR=/data/openpilot CASYNC_DIR=/data/casync $SOURCE_DIR/release/create_casync_build.sh"],
+        //["upload ${channel_name}", "OPENPILOT_CHANNEL=${channel_name} $SOURCE_DIR/release/upload_casync_release.sh"],
+      ])
+    }
+  )
+}
+
+
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -164,15 +181,11 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_release("release3-staging")
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_release("nightly")
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {

cereal

@@ -1 +1 @@
-Subproject commit 430535068ac3bb94d3e117a3cfbc348ef37eb72d
+Subproject commit b9871482a3cba70c2ab40ab80017019313dc3f31

common/git.py

@@ -4,38 +4,38 @@ from openpilot.common.run import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch])
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(commit: str = "HEAD") -> str:
-  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin() -> str:
+def get_origin(cwd: str = None) -> str:
   try:
-    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
-    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
-    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
 
 
 @cache
-def get_normalized_origin() -> str:
-  return get_origin() \
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \
     .replace("https://", "", 1) \

common/prefix.py

@@ -4,6 +4,7 @@ import uuid
 
 
 from openpilot.common.params import Params
+from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -45,6 +46,7 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
+    if PC:
       shutil.rmtree(Paths.log_root(), ignore_errors=True)
     if not os.environ.get("COMMA_CACHE", False):
       shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)

common/run.py

@@ -1,13 +1,13 @@
 import subprocess
 
 
-def run_cmd(cmd: list[str]) -> str:
-  return subprocess.check_output(cmd, encoding='utf8').strip()
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
 
 
-def run_cmd_default(cmd: list[str], default: str = "") -> str:
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
   try:
-    return run_cmd(cmd)
+    return run_cmd(cmd, cwd=cwd, env=env)
   except subprocess.CalledProcessError:
     return default
 

common/time.py

@@ -1,6 +1,15 @@
 import datetime
+from pathlib import Path
 
-MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > min_date()

common/util.cc

@@ -256,8 +256,9 @@ bool starts_with(const std::string &s1, const std::string &s2) {
   return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }
 
-bool ends_with(const std::string &s1, const std::string &s2) {
-  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+bool ends_with(const std::string& s, const std::string& suffix) {
+  return s.size() >= suffix.size() &&
+         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
 std::string check_output(const std::string& command) {

common/util.h

@@ -77,7 +77,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s, const std::string &suffix);
 
 // ***** random helpers *****
 int random_int(int min, int max);

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 289 Supported Cars
+# 291 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -51,7 +51,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020-23">Buy Here</a></sub></details>||
+|Genesis|G70 2020-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
@@ -71,7 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -215,6 +216,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
 |Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
 |Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
 |Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
 |Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||

opendbc

@@ -1 +1 @@
-Subproject commit ff1f1ff335261c469635c57c81817afd04663eab
+Subproject commit 5821bd94d0cb9017d274b4499f2a0525ac317dc2

panda

@@ -1 +1 @@
-Subproject commit 567dbfe6d86ddda6d803da371942603c6dbe36c8
+Subproject commit 18f0bdff4bfb178c5cb5613fe91f0bb424791a93

poetry.lock

@@ -730,19 +730,19 @@ test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
 
 [[package]]
 name = "control"
-version = "0.9.4"
+version = "0.10.0"
 description = "Python Control Systems Library"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.10"
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 [package.dependencies]
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-numpy = "*"
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+matplotlib = ">=3.6"
+numpy = ">=1.23"
+scipy = ">=1.8"
 
 [package.extras]
 cvxopt = ["cvxopt (>=1.2.0)"]
@@ -894,69 +894,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
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 html5 = ["html5lib"]
 htmlsoup = ["BeautifulSoup4"]
-source = ["Cython (>=3.0.7)"]
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-    {file = "pre_commit-3.6.2.tar.gz", hash = "sha256:c3ef34f463045c88658c5b99f38c1e297abdcc0ff13f98d3370055fbbfabc67e"},
+    {file = "pre_commit-3.7.0-py2.py3-none-any.whl", hash = "sha256:5eae9e10c2b5ac51577c3452ec0a490455c45a0533f7960f993a0d01e59decab"},
+    {file = "pre_commit-3.7.0.tar.gz", hash = "sha256:e209d61b8acdcf742404408531f0c37d49d2c734fd7cff2d6076083d191cb060"},
 ]
 
 [package.dependencies]
@@ -3115,22 +3158,22 @@ files = [
 
 [[package]]
 name = "protobuf"
-version = "5.26.0"
+version = "5.26.1"
 description = ""
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "protobuf-5.26.1-cp310-abi3-win32.whl", hash = "sha256:3c388ea6ddfe735f8cf69e3f7dc7611e73107b60bdfcf5d0f024c3ccd3794e23"},
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+    {file = "protobuf-5.26.1-cp39-cp39-win_amd64.whl", hash = "sha256:7ee014c2c87582e101d6b54260af03b6596728505c79f17c8586e7523aaa8f8c"},
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+    {file = "protobuf-5.26.1.tar.gz", hash = "sha256:8ca2a1d97c290ec7b16e4e5dff2e5ae150cc1582f55b5ab300d45cb0dfa90e51"},
 ]
 
 [[package]]
@@ -3246,13 +3289,13 @@ files = [
 
 [[package]]
 name = "pycparser"
-version = "2.21"
+version = "2.22"
 description = "C parser in Python"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.8"
 files = [
-    {file = "pycparser-2.21-py2.py3-none-any.whl", hash = "sha256:8ee45429555515e1f6b185e78100aea234072576aa43ab53aefcae078162fca9"},
-    {file = "pycparser-2.21.tar.gz", hash = "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206"},
+    {file = "pycparser-2.22-py3-none-any.whl", hash = "sha256:c3702b6d3dd8c7abc1afa565d7e63d53a1d0bd86cdc24edd75470f4de499cfcc"},
+    {file = "pycparser-2.22.tar.gz", hash = "sha256:491c8be9c040f5390f5bf44a5b07752bd07f56edf992381b05c701439eec10f6"},
 ]
 
 [[package]]
@@ -6511,13 +6554,13 @@ testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygm
 
 [[package]]
 name = "pytest-cov"
-version = "4.1.0"
+version = "5.0.0"
 description = "Pytest plugin for measuring coverage."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "pytest-cov-4.1.0.tar.gz", hash = "sha256:3904b13dfbfec47f003b8e77fd5b589cd11904a21ddf1ab38a64f204d6a10ef6"},
-    {file = "pytest_cov-4.1.0-py3-none-any.whl", hash = "sha256:6ba70b9e97e69fcc3fb45bfeab2d0a138fb65c4d0d6a41ef33983ad114be8c3a"},
+    {file = "pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857"},
+    {file = "pytest_cov-5.0.0-py3-none-any.whl", hash = "sha256:4f0764a1219df53214206bf1feea4633c3b558a2925c8b59f144f682861ce652"},
 ]
 
 [package.dependencies]
@@ -6525,7 +6568,7 @@ coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
+testing = ["fields", "hunter", "process-tests", "pytest-xdist", "virtualenv"]
 
 [[package]]
 name = "pytest-cpp"
@@ -6645,13 +6688,13 @@ files = [
 
 [[package]]
 name = "pytools"
-version = "2023.1.1"
+version = "2024.1.1"
 description = "A collection of tools for Python"
 optional = false
 python-versions = "~=3.8"
 files = [
-    {file = "pytools-2023.1.1-py2.py3-none-any.whl", hash = "sha256:53b98e5d6c01a90e343f8be2f5271e94204a210ef3e74fbefa3d47ec7480f150"},
-    {file = "pytools-2023.1.1.tar.gz", hash = "sha256:80637873d206f6bcedf7cdb46ad93e868acb4ea2256db052dfcca872bdd0321f"},
+    {file = "pytools-2024.1.1-py2.py3-none-any.whl", hash = "sha256:9f1d03040d78d9d2a607d08de64ec4e350aecdf4ee019f627ce1f1f0c2a4400d"},
+    {file = "pytools-2024.1.1.tar.gz", hash = "sha256:2c88edfa990c8e325167c37659fb1e10a3c1133dfaf752bbd7d8456402b8dcff"},
 ]
 
 [package.dependencies]
@@ -6947,28 +6990,28 @@ docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.3.3"
+version = "0.3.4"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "ruff-0.3.4-py3-none-win_amd64.whl", hash = "sha256:de0d5069b165e5a32b3c6ffbb81c350b1e3d3483347196ffdf86dc0ef9e37dd6"},
+    {file = "ruff-0.3.4-py3-none-win_arm64.whl", hash = "sha256:6810563cc08ad0096b57c717bd78aeac888a1bfd38654d9113cb3dc4d3f74232"},
+    {file = "ruff-0.3.4.tar.gz", hash = "sha256:f0f4484c6541a99862b693e13a151435a279b271cff20e37101116a21e2a1ad1"},
 ]
 
 [[package]]
@@ -7047,13 +7090,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.42.0"
+version = "1.44.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
-    {file = "sentry-sdk-1.42.0.tar.gz", hash = "sha256:4a8364b8f7edbf47f95f7163e48334c96100d9c098f0ae6606e2e18183c223e6"},
-    {file = "sentry_sdk-1.42.0-py2.py3-none-any.whl", hash = "sha256:a654ee7e497a3f5f6368b36d4f04baeab1fe92b3105f7f6965d6ef0de35a9ba4"},
+    {file = "sentry-sdk-1.44.0.tar.gz", hash = "sha256:f7125a9235795811962d52ff796dc032cd1d0dd98b59beaced8380371cd9c13c"},
+    {file = "sentry_sdk-1.44.0-py2.py3-none-any.whl", hash = "sha256:eb65289da013ca92fad2694851ad2f086aa3825e808dc285bd7dcaf63602bb18"},
 ]
 
 [package.dependencies]
@@ -7067,6 +7110,7 @@ asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
 bottle = ["bottle (>=0.12.13)"]
 celery = ["celery (>=3)"]
+celery-redbeat = ["celery-redbeat (>=2)"]
 chalice = ["chalice (>=1.16.0)"]
 clickhouse-driver = ["clickhouse-driver (>=0.2.0)"]
 django = ["django (>=1.8)"]

release/README.md

@@ -0,0 +1,44 @@
+# openpilot releases
+
+
+## terms
+
+- `channel` - a named version of openpilot (git branch, casync caibx) which receives updates
+- `build` - a release which is already built for the comma 3/3x and contains only required files for running openpilot and identifying the release
+
+- `build_style` - type of build, either `debug` or `release`
+  - `debug` - build with `ALLOW_DEBUG=true`, can test experimental features like longitudinal on alpha cars
+  - `release` - build with `ALLOW_DEBUG=false`, experimental features disabled
+
+
+## openpilot channels
+
+| channel      | build_style | description                                                       |
+| -----------  | ----------- | ----------                                                        |
+| release      | `release`   | stable release of openpilot                                       |
+| staging      | `release`   | release candidate of openpilot for final verification             |
+| nightly      | `release`   | generated nightly from last commit passing CI tests               |
+| master       | `debug`     | current master commit with experimental features enabled          |
+| git branches | `debug`     | installed manually, experimental features enabled, build required |
+
+
+## creating casync build
+
+`create_casync_build.sh` - creates a casync openpilot build, ready to upload to `openpilot-releases`
+
+```bash
+# run on a tici, within the directory you want to create the build from.
+# creates a prebuilt version of openpilot into BUILD_DIR and outputs the caibx
+# of a tarball containing the full prebuilt openpilot release
+BUILD_DIR=/data/openpilot_build    \
+CASYNC_DIR=/data/casync            \
+OPENPILOT_CHANNEL=nightly          \
+release/create_casync_build.sh
+```
+
+`upload_casync_release.sh` - helper for uploading a casync build to `openpilot-releases`
+
+
+## release builds
+
+to create a release build, set `RELEASE=1` environment variable when running the build script

release/copy_build_files.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+SOURCE_DIR=$1
+TARGET_DIR=$2
+
+if [ -f /TICI ]; then
+  FILES_SRC="release/files_tici"
+else
+  echo "no release files set"
+  exit 1
+fi
+
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $TARGET_DIR/
+cp -pR --parents $(cat $FILES_SRC) $TARGET_DIR/

release/create_casync_build.sh

@@ -0,0 +1,22 @@
+#!/usr/bin/bash
+
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+CASYNC_DIR="${CASYNC_DIR:=/tmp/casync}"
+SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
+BUILD_DIR="${BUILD_DIR:=$(mktemp -d)}"
+
+echo "Creating casync release from $SOURCE_DIR to $CASYNC_DIR"
+
+cd $SOURCE_DIR
+mkdir -p $CASYNC_DIR
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
+
+release/copy_build_files.sh $SOURCE_DIR $BUILD_DIR
+release/create_prebuilt.sh $BUILD_DIR
+
+cd $SOURCE_DIR
+release/create_casync_release.py $BUILD_DIR $CASYNC_DIR $OPENPILOT_CHANNEL

release/create_casync_release.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import argparse
+import os
+import pathlib
+
+from openpilot.system.updated.casync.common import create_casync_release, create_build_metadata_file
+from openpilot.system.version import get_build_metadata
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="creates a casync release")
+  parser.add_argument("target_dir", type=str, help="target directory to build channel from")
+  parser.add_argument("output_dir", type=str, help="output directory for the channel")
+  parser.add_argument("channel", type=str, help="what channel this build is")
+  args = parser.parse_args()
+
+  target_dir = pathlib.Path(args.target_dir)
+  output_dir = pathlib.Path(args.output_dir)
+
+  build_metadata = get_build_metadata()
+  build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug"
+
+  create_build_metadata_file(target_dir, build_metadata, args.channel)
+
+  digest, caibx = create_casync_release(target_dir, output_dir, build_metadata.canonical)
+
+  print(f"Created casync release from {target_dir} to {caibx} with digest {digest}")

release/create_prebuilt.sh

@@ -0,0 +1,34 @@
+#!/usr/bin/bash -e
+
+# runs on tici to create a prebuilt version of a release
+
+set -ex
+
+BUILD_DIR=$1
+
+cd $BUILD_DIR
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
+
+rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
+
+if [ -n "$RELEASE" ]; then
+  export CERT=/data/pandaextra/certs/release
+fi
+
+scons -j$(nproc)
+
+# Cleanup
+find . -name '*.a' -delete
+find . -name '*.o' -delete
+find . -name '*.os' -delete
+find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
+find . -name '__pycache__' -delete
+rm -rf .sconsign.dblite Jenkinsfile release/
+rm selfdrive/modeld/models/supercombo.onnx
+
+# Mark as prebuilt release
+touch prebuilt

release/files_common

@@ -55,7 +55,7 @@ selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/statsd.py
 
-selfdrive/updated/*
+selfdrive/updated/**
 
 system/logmessaged.py
 system/micd.py
@@ -170,7 +170,6 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
-system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@@ -187,6 +186,8 @@ system/ubloxd/generated/*
 system/ubloxd/*.h
 system/ubloxd/*.cc
 
+system/updated/*
+
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore

release/upload_casync_release.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+CASYNC_DIR="${CASYNC_DIR:=/tmp/casync}"
+
+OPENPILOT_RELEASES="https://commadist.blob.core.windows.net/openpilot-releases/"
+
+SAS="$(python -c 'from tools.lib.azure_container import get_container_sas;print(get_container_sas("commadist","openpilot-releases"))')"
+
+azcopy cp "$CASYNC_DIR*" "$OPENPILOT_RELEASES?$SAS" --recursive

selfdrive/athena/athenad.py

@@ -32,13 +32,12 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.file_helpers import CallbackReader
-from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version
+from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
 
 
@@ -320,11 +319,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
 
 @dispatcher.add_method
 def getVersion() -> dict[str, str]:
+  build_metadata = get_build_metadata()
   return {
-    "version": get_version(),
-    "remote": get_normalized_origin(),
-    "branch": get_short_branch(),
-    "commit": get_commit(),
+    "version": build_metadata.openpilot.version,
+    "remote": build_metadata.openpilot.git_normalized_origin,
+    "branch": build_metadata.channel,
+    "commit": build_metadata.openpilot.git_commit,
   }
 
 

selfdrive/athena/manage_athenad.py

@@ -7,8 +7,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch
-from openpilot.system.version import get_version, is_dirty
+from openpilot.system.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
@@ -16,12 +15,14 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
+  build_metadata = get_build_metadata()
+
   cloudlog.bind_global(dongle_id=dongle_id,
-                       version=get_version(),
-                       origin=get_normalized_origin(),
-                       branch=get_short_branch(),
-                       commit=get_commit(),
-                       dirty=is_dirty(),
+                       version=build_metadata.openpilot.version,
+                       origin=build_metadata.openpilot.git_normalized_origin,
+                       branch=build_metadata.channel,
+                       commit=build_metadata.openpilot.git_commit,
+                       dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
   try:

selfdrive/boardd/boardd.cc

@@ -144,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
+    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
   } catch (std::exception &e) {
     return nullptr;
   }
@@ -316,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setControlsAllowed(health.controls_allowed_pkt);
     ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
     ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
     ps.setPandaType(panda->hw_type);
     ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
     ps.setSafetyParam(health.safety_param_pkt);

selfdrive/boardd/panda.cc

@@ -172,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (auto cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
+    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
       continue;
     }
     auto can_data = cmsg.getDat();

selfdrive/boardd/panda.h

@@ -23,6 +23,8 @@
 #define CAN_REJECTED_BUS_OFFSET   0xC0U
 #define CAN_RETURNED_BUS_OFFSET 0x80U
 
+#define PANDA_BUS_OFFSET 4
+
 struct __attribute__((packed)) can_header {
   uint8_t reserved : 1;
   uint8_t bus : 3;

selfdrive/boardd/pandad.py

@@ -155,9 +155,6 @@ def main() -> NoReturn:
         if first_run:
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          if panda.is_internal():
-            HARDWARE.reset_internal_panda()
-          else:
           panda.reset(reconnect=False)
 
       for p in pandas:

selfdrive/boardd/tests/test_boardd_usbprotocol.cc

@@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
     uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 2) + bus_offset);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }

selfdrive/boardd/tests/test_pandad.py

@@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _run_test(self, timeout=30):
-    managed_processes['pandad'].start()
+  def _run_test(self, timeout=30) -> float:
+    st = time.monotonic()
+    sm = messaging.SubMaster(['pandaStates'])
 
-    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout*10):
+    managed_processes['pandad'].start()
+    while (time.monotonic() - st) < timeout:
       sm.update(100)
-      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
-
+    dt = time.monotonic() - st
     managed_processes['pandad'].stop()
 
-    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+    if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    return dt
+
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -88,14 +93,23 @@ class TestPandad(unittest.TestCase):
     assert any(Panda(s).is_internal() for s in Panda.list())
 
   def test_best_case_startup_time(self):
-    # run once so we're setup
+    # run once so we're up to date
     self._run_test(60)
 
-    # should be fast this time
-    self._run_test(8)
+    ts = []
+    for _ in range(10):
+      # should be nearly instant this time
+      dt = self._run_test(5)
+      ts.append(dt)
+
+    # 5s for USB (due to enumeration)
+    # - 0.2s pandad -> boardd
+    # - plus some buffer
+    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
+    print("startup times", ts, sum(ts) / len(ts))
 
   def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
+    if not self.spi:
       raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")

selfdrive/car/__init__.py

@@ -165,20 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
-def crc8_pedal(data):
-  crc = 0xFF    # standard init value
-  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
-  size = len(data)
-  for i in range(size - 1, -1, -1):
-    crc ^= data[i]
-    for _ in range(8):
-      if ((crc & 0x80) != 0):
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc <<= 1
-  return crc
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 

selfdrive/car/car_helpers.py

@@ -4,7 +4,6 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -13,6 +12,7 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -20,7 +20,8 @@ EventName = car.CarEvent.EventName
 
 
 def get_startup_event(car_recognized, controller_available, fw_seen):
-  if is_comma_remote() and is_tested_branch():
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
     event = EventName.startup
   else:
     event = EventName.startupMaster

selfdrive/car/chrysler/fingerprints.py

@@ -81,6 +81,7 @@ FW_VERSIONS = {
       b'68277370AJ',
       b'68277370AM',
       b'68277372AD',
+      b'68277372AE',
       b'68277372AN',
       b'68277374AA',
       b'68277374AB',
@@ -99,6 +100,7 @@ FW_VERSIONS = {
       b'68436250AE',
       b'68529067AA',
       b'68594993AB',
+      b'68594994AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68405565AB',
@@ -122,15 +124,18 @@ FW_VERSIONS = {
       b'68540436AC',
       b'68540436AD',
       b'68598670AB',
+      b'68598670AC',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416742AA',
       b'68460393AA',
       b'68460393AB',
       b'68494461AB',
+      b'68494461AC',
       b'68524936AA',
       b'68524936AB',
       b'68525338AB',
+      b'68594337AB',
       b'68594340AB',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -142,11 +147,14 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496647AJ ',
+      b'68496650AH ',
       b'68496650AI ',
       b'68526752AD ',
       b'68526752AE ',
       b'68526754AE ',
       b'68536264AE ',
+      b'68700304AB ',
       b'68700306AB ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -157,9 +165,11 @@ FW_VERSIONS = {
       b'68443155AC',
       b'68443158AB',
       b'68501050AD',
+      b'68501055AD',
       b'68527221AB',
       b'68527223AB',
       b'68586231AD',
+      b'68586233AD',
     ],
   },
   CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
@@ -260,6 +270,7 @@ FW_VERSIONS = {
       b'68331511AC',
       b'68331574AC',
       b'68331687AC',
+      b'68331690AC',
       b'68340272AD',
     ],
     (Ecu.srs, 0x744, None): [
@@ -386,6 +397,7 @@ FW_VERSIONS = {
       b'68453491AC',
       b'68453499AD',
       b'68453503AC',
+      b'68453503AD',
       b'68453505AC',
       b'68453505AD',
       b'68453511AC',
@@ -412,6 +424,7 @@ FW_VERSIONS = {
       b'68631938AA',
       b'68631940AA',
       b'68631942AA',
+      b'68631943AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -486,6 +499,7 @@ FW_VERSIONS = {
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05036193AA ',
       b'05149368AA ',
       b'05149591AD ',
       b'05149591AE ',
@@ -526,6 +540,7 @@ FW_VERSIONS = {
       b'68502740AF ',
       b'68502741AF ',
       b'68502742AC ',
+      b'68502742AF ',
       b'68539650AD',
       b'68539650AF',
       b'68539651AD',
@@ -539,6 +554,7 @@ FW_VERSIONS = {
       b'05035706AD',
       b'05035842AB',
       b'05036069AA',
+      b'05036181AA',
       b'05149536AC',
       b'05149537AC',
       b'05149543AC',

selfdrive/car/docs_definitions.py

@@ -340,7 +340,7 @@ class CarDocs:
 
       # experimental mode
       exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
         sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
 
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)

selfdrive/car/fingerprints.py

@@ -6,6 +6,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
@@ -134,6 +135,8 @@ MIGRATION = {
   "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
   "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
   "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
+  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
+  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
   "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
   "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
   "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
@@ -253,6 +256,7 @@ MIGRATION = {
   "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
   "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
   "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
+  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
   "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
   "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
   "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
@@ -335,4 +339,6 @@ MIGRATION = {
   "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
   "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1,
   "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
+
+  "mock": MOCK.MOCK,
 }

selfdrive/car/ford/carstate.py

@@ -57,7 +57,8 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
 
     # cruise state
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
+    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
@@ -131,6 +132,10 @@ class CarState(CarStateBase):
       messages += [
         ("Lane_Assist_Data3_FD1", 33),
       ]
+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 1),
+      ]
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [

selfdrive/car/ford/fingerprints.py

@@ -131,9 +131,11 @@ FW_VERSIONS = {
   },
   CAR.FORD_MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/fw_versions.py

@@ -388,7 +388,8 @@ if __name__ == "__main__":
   padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()

selfdrive/car/honda/fingerprints.py

@@ -576,6 +576,7 @@ FW_VERSIONS = {
       b'37805-5PA-AB10\x00\x00',
       b'37805-5PA-AD10\x00\x00',
       b'37805-5PA-AF20\x00\x00',
+      b'37805-5PA-AF30\x00\x00',
       b'37805-5PA-AH20\x00\x00',
       b'37805-5PA-BF10\x00\x00',
       b'37805-5PA-C680\x00\x00',
@@ -1030,6 +1031,7 @@ FW_VERSIONS = {
       b'78109-TG7-AS20\x00\x00',
       b'78109-TG7-AT20\x00\x00',
       b'78109-TG7-AU20\x00\x00',
+      b'78109-TG7-AW20\x00\x00',
       b'78109-TG7-AX20\x00\x00',
       b'78109-TG7-D020\x00\x00',
       b'78109-TG7-DJ10\x00\x00',

selfdrive/car/honda/values.py

@@ -156,7 +156,7 @@ class CAR(Platforms):
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
+    [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
     # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_accord_2018_can_generated', None),
@@ -261,9 +261,9 @@ class CAR(Platforms):
   )
 
 
-HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xF112)
-HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(0xF112)
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -276,17 +276,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
 
     # Data collection requests:
-    # Attempt to get the radarless Civic 2022+ camera FW
+    # Log manufacturer-specific identifier for current ECUs
     Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-      logging=True
-    ),
-    # Log extra identifiers for current ECUs
-    Request(
-      [HONDA_VERSION_REQUEST],
-      [HONDA_VERSION_RESPONSE],
+      [HONDA_ALT_VERSION_REQUEST],
+      [HONDA_ALT_VERSION_RESPONSE],
       bus=1,
       logging=True,
     ),
@@ -307,20 +300,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.transmission: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.srs: [CAR.HONDA_ACCORD],
-    Ecu.eps: [CAR.HONDA_ACCORD],
-    Ecu.vsa: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.combinationMeter: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.gateway: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
-    Ecu.shiftByWire: [CAR.HONDA_ACCORD],  # existence correlates with transmission type for ICE
-    Ecu.hud: [CAR.HONDA_ACCORD],  # existence correlates with trim level
+    Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G,
+                                  CAR.HONDA_PILOT],
+    Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT],
+    Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E],
+    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
+              CAR.HONDA_E, CAR.HONDA_INSIGHT],
+    Ecu.combinationMeter: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_FIT,
+                           CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN],
+    Ecu.gateway: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_FIT,
+                  CAR.HONDA_FREED, CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT,
+                  CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_PILOT],
+    Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    # existence correlates with transmission type for Accord ICE
+    Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_PILOT],
+    # existence correlates with trim level
+    Ecu.hud: [CAR.HONDA_ACCORD],
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
-    (Ecu.unknown, 0x18DAB3F1, None),
+    # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
+    # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
+    # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
+    # (Ecu.unknown, 0x18DAB3F1, None),
   ],
 )
 

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -36,6 +36,8 @@ NO_DATES_PLATFORMS = {
   CAR.HYUNDAI_VELOSTER,
 }
 
+CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
+
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_can_features(self):
@@ -51,16 +53,14 @@ class TestHyundaiFingerprint(unittest.TestCase):
     self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
     self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
 
-  def test_auxiliary_request_ecu_whitelist(self):
-    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
-
+  def test_canfd_ecu_whitelist(self):
+    # Asserts only expected Ecus can exist in database for CAN-FD cars
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
-      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
       ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
       self.assertEqual(len(ecus_not_in_whitelist), 0,
-                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
 
   def test_blacklisted_parts(self):
     # Asserts no ECUs known to be shared across platforms exist in the database.
@@ -85,8 +85,6 @@ class TestHyundaiFingerprint(unittest.TestCase):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
-          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
-          if ecu[0] in (Ecu.fwdCamera,):
           self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
                           f"FW from unexpected request in database: {(ecu, fws)}")
 

selfdrive/car/hyundai/values.py

@@ -508,7 +508,12 @@ class CAR(Platforms):
     flags=HyundaiFlags.LEGACY,
   )
   GENESIS_G70_2020 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
+    [
+      # TODO: 2021 MY harness is unknown
+      HyundaiCarDocs("Genesis G70 2020-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
+      HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
     CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
     flags=HyundaiFlags.MANDO_RADAR,
   )
@@ -619,11 +624,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER])
 HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf110)  # Alt long description
 
-HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100)
-
 HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
 
@@ -647,37 +647,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas,
-                    Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter]
-
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
-    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # TODO: add back whitelists
     # CAN queries (OBD-II port)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
 
-    # CAN-FD queries (from camera)
-    # TODO: combine shared whitelists with CAN requests
+    # CAN & CAN-FD queries (from camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps],
       bus=0,
       auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
       bus=1,
       auxiliary=True,
       obd_multiplexing=False,
@@ -688,44 +676,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_ECU_MANUFACTURING_DATE],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-
-    # CAN & CAN FD logging queries (from camera)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
       bus=0,
       auxiliary=True,
       logging=True,
     ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=1,
-      auxiliary=True,
-      obd_multiplexing=False,
-      logging=True,
-    ),
 
-    # CAN-FD alt request logging queries
+    # CAN-FD alt request logging queries for hvac and parkingAdas
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
       logging=True,
@@ -733,7 +692,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
       logging=True,
@@ -743,9 +701,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
-    Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
-    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
+    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
+              CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
+              CAR.KIA_CEED, CAR.KIA_SELTOS],
   },
   extra_ecus=[
     (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms

selfdrive/car/mazda/fingerprints.py

@@ -11,6 +11,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -38,6 +39,7 @@ FW_VERSIONS = {
       b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
@@ -252,6 +254,7 @@ FW_VERSIONS = {
       b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,15 +263,15 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.6, 2: 9.5}
+    total_ref_time = {1: 8.1, 2: 8.7}
     brand_ref_times = {
       1: {
         'gm': 1.0,
         'body': 0.1,
         'chrysler': 0.3,
         'ford': 1.5,
-        'honda': 0.55,
-        'hyundai': 1.05,
+        'honda': 0.45,
+        'hyundai': 0.65,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.65,
@@ -281,7 +281,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
       },
       2: {
         'ford': 1.6,
-        'hyundai': 1.85,
+        'hyundai': 1.15,
         'tesla': 0.3,
       }
     }

selfdrive/car/tests/test_models.py

@@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
@@ -95,7 +95,8 @@ class TestCarModelBase(unittest.TestCase):
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
         if cls.platform is None and not cls.ci:
-          cls.platform = msg.carParams.carFingerprint
+          live_fingerprint = msg.carParams.carFingerprint
+          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':

selfdrive/car/toyota/fingerprints.py

@@ -377,6 +377,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821FF410200\x00\x00\x00\x00',
       b'\x018821FF410300\x00\x00\x00\x00',
+      b'\x018821FF410400\x00\x00\x00\x00',
       b'\x018821FF410500\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
@@ -727,6 +728,7 @@ FW_VERSIONS = {
       b'\x018966353M7000\x00\x00\x00\x00',
       b'\x018966353M7100\x00\x00\x00\x00',
       b'\x018966353Q2000\x00\x00\x00\x00',
+      b'\x018966353Q2100\x00\x00\x00\x00',
       b'\x018966353Q2300\x00\x00\x00\x00',
       b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
@@ -1417,6 +1419,7 @@ FW_VERSIONS = {
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F1104200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },

selfdrive/car/values.py

@@ -1,4 +1,4 @@
-from typing import Any, Callable, cast
+from typing import cast
 from openpilot.selfdrive.car.body.values import CAR as BODY
 from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
 from openpilot.selfdrive.car.ford.values import CAR as FORD
@@ -17,9 +17,3 @@ Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN
 BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, MOCK, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN]
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)}
-
-MapFunc = Callable[[Platform], Any]
-
-
-def create_platform_map(func: MapFunc):
-  return {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None}

selfdrive/car/volkswagen/carstate.py

@@ -114,21 +114,24 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
-    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
-      # ACC okay and enabled, but not currently engaged
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = False
-    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
-      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = True
+
+    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
+    # currently regulating speed (3), driver accel override (4), brake only (5)
+    ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
+    ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
+
+    if self.CP.pcmCruise:
+      # Cruise Control mode; check for distance UI setting from the radar.
+      # ECM does not manage this, so do not need to check for openpilot longitudinal
+      ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
     else:
-      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
-      ret.cruiseState.available = False
-      ret.cruiseState.enabled = False
+      # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
+      ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
+    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
+
     self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
-    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.

selfdrive/car/volkswagen/fingerprints.py

@@ -386,6 +386,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x892012',
       b'\xf1\x8704L906026GA\xf1\x892013',
+      b'\xf1\x8704L906026GK\xf1\x899971',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x8705L906022A \xf1\x890827',
       b'\xf1\x873G0906259  \xf1\x890004',
@@ -393,6 +394,7 @@ FW_VERSIONS = {
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041E \xf1\x891006',
       b'\xf1\x870CW300042H \xf1\x891601',
       b'\xf1\x870CW300042H \xf1\x891607',
       b'\xf1\x870CW300043H \xf1\x891601',
@@ -432,6 +434,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1',
@@ -1068,6 +1071,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021ER\xf1\x898361',
       b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026BS\xf1\x891541',
+      b'\xf1\x8704L906026BT\xf1\x897612',
       b'\xf1\x875G0906259C \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -1076,6 +1080,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300043B \xf1\x891601',
       b'\xf1\x870CW300043P \xf1\x891605',
       b'\xf1\x870D9300012H \xf1\x894518',
+      b'\xf1\x870D9300014T \xf1\x895221',
       b'\xf1\x870D9300041C \xf1\x894936',
       b'\xf1\x870D9300041H \xf1\x895220',
       b'\xf1\x870D9300041J \xf1\x894902',
@@ -1096,6 +1101,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
       b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',

selfdrive/car/volkswagen/values.py

@@ -334,6 +334,7 @@ class CAR(Platforms):
     [
       VWCarDocs("Škoda Octavia 2015-19"),
       VWCarDocs("Škoda Octavia RS 2016"),
+      VWCarDocs("Škoda Octavia Scout 2017-19"),
     ],
     VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
   )
@@ -370,7 +371,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
+      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar, Ecu.fwdCamera],
       rx_offset=VOLKSWAGEN_RX_OFFSET,
       bus=bus,
       logging=(bus != 1 or not obd_multiplexing),
@@ -379,7 +380,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission],
       bus=bus,
       logging=(bus != 1 or not obd_multiplexing),
       obd_multiplexing=obd_multiplexing,

selfdrive/controls/controlsd.py

@@ -143,6 +143,7 @@ class Controls:
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.steer_limited = False
+    self.last_actuators = car.CarControl.Actuators.new_message()
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
@@ -620,7 +621,7 @@ class Controls:
         undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
         turning = abs(lac_log.desiredLateralAccel) > 1.0
         good_speed = CS.vEgo > 5
-        max_torque = abs(actuators.steer) > 0.99
+        max_torque = abs(self.last_actuators.steer) > 0.99
         if undershooting and turning and good_speed and max_torque:
           lac_log.active and self.events.add(EventName.steerSaturated)
       elif lac_log.saturated:
@@ -727,6 +728,7 @@ class Controls:
 
     if not self.CP.passive and self.initialized:
       self.card.controls_update(CC)
+      self.last_actuators = CO.actuatorsOutput
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD

selfdrive/debug/check_can_parser_performance.py

@@ -25,11 +25,12 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
+    msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
     start_t = time.process_time_ns()
-    for msg in tm.can_msgs:
+    for msg in msgs:
       for cp in tm.CI.can_parsers:
         if cp is not None:
-          cp.update_strings((msg.as_builder().to_bytes(),))
+          cp.update_strings(msg)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')

selfdrive/debug/cycle_alerts.py

@@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False):
   cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
 
   CS = car.CarState.new_message()
-  CP = CarInterface.get_non_essential_params("CIVIC")
+  CP = CarInterface.get_non_essential_params("HONDA_CIVIC")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                             'managerState'] + cameras)

selfdrive/manager/build.py

@@ -9,7 +9,7 @@ from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import AGNOS
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import is_dirty
+from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
@@ -86,4 +86,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 if __name__ == "__main__":
   spinner = Spinner()
   spinner.update_progress(0, 100)
-  build(spinner, is_dirty(), minimal = AGNOS)
+  build_metadata = get_build_metadata()
+  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)

selfdrive/manager/manager.py

@@ -16,21 +16,20 @@ from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.common.git import get_commit, get_origin, get_short_branch, get_commit_date
-from openpilot.system.version import is_dirty, get_version, \
-                           get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch
+from openpilot.system.version import get_build_metadata, terms_version, training_version
 
 
 
 def manager_init() -> None:
   save_bootlog()
 
+  build_metadata = get_build_metadata()
+
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
-  if is_release_branch():
+  if build_metadata.release_channel:
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
   default_params: list[tuple[str, str | bytes]] = [
@@ -62,15 +61,15 @@ def manager_init() -> None:
     print("WARNING: failed to make /dev/shm")
 
   # set version params
-  params.put("Version", get_version())
+  params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
-  params.put("GitCommit", get_commit())
-  params.put("GitCommitDate", get_commit_date())
-  params.put("GitBranch", get_short_branch())
-  params.put("GitRemote", get_origin())
-  params.put_bool("IsTestedBranch", is_tested_branch())
-  params.put_bool("IsReleaseBranch", is_release_branch())
+  params.put("GitCommit", build_metadata.openpilot.git_commit)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
+  params.put("GitBranch", build_metadata.channel)
+  params.put("GitRemote", build_metadata.openpilot.git_origin)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -80,21 +79,21 @@ def manager_init() -> None:
     serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
-  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
-  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
-  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
+  os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
+  os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
 
-  if not is_dirty():
+  if not build_metadata.openpilot.is_dirty:
     os.environ['CLEAN'] = '1'
 
   # init logging
   sentry.init(sentry.SentryProject.SELFDRIVE)
   cloudlog.bind_global(dongle_id=dongle_id,
-                       version=get_version(),
-                       origin=get_normalized_origin(),
-                       branch=get_short_branch(),
-                       commit=get_commit(),
-                       dirty=is_dirty(),
+                       version=build_metadata.openpilot.version,
+                       origin=build_metadata.openpilot.git_normalized_origin,
+                       branch=build_metadata.channel,
+                       commit=build_metadata.openpilot.git_commit,
+                       dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
   # preimport all processes

selfdrive/navd/navd.py

@@ -48,15 +48,14 @@ class RouteEngine:
 
     self.reroute_counter = 0
 
+
+    self.api = None
+    self.mapbox_token = None
     if "MAPBOX_TOKEN" in os.environ:
       self.mapbox_token = os.environ["MAPBOX_TOKEN"]
       self.mapbox_host = "https://api.mapbox.com"
     else:
-      try:
-        self.mapbox_token = Api(self.params.get("DongleId", encoding='utf8')).get_token(expiry_hours=4 * 7 * 24)
-      except FileNotFoundError:
-        cloudlog.exception("Failed to generate mapbox token due to missing private key. Ensure device is registered.")
-        self.mapbox_token = ""
+      self.api = Api(self.params.get("DongleId", encoding='utf8'))
       self.mapbox_host = "https://maps.comma.ai"
 
   def update(self):
@@ -122,8 +121,12 @@ class RouteEngine:
     if lang is not None:
       lang = lang.replace('main_', '')
 
+    token = self.mapbox_token
+    if token is None:
+      token = self.api.get_token()
+
     params = {
-      'access_token': self.mapbox_token,
+      'access_token': token,
       'annotations': 'maxspeed',
       'geometries': 'geojson',
       'overview': 'full',

selfdrive/sentry.py

@@ -6,9 +6,8 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.common.git import get_commit, get_branch, get_origin
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version, is_comma_remote, is_dirty, is_tested_branch
+from openpilot.system.version import get_build_metadata, get_version
 
 
 class SentryProject(Enum):
@@ -43,12 +42,13 @@ def set_tag(key: str, value: str) -> None:
 
 
 def init(project: SentryProject) -> bool:
+  build_metadata = get_build_metadata()
   # forks like to mess with this, so double check
-  comma_remote = is_comma_remote() and "commaai" in get_origin()
+  comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
   if not comma_remote or not is_registered_device() or PC:
     return False
 
-  env = "release" if is_tested_branch() else "master"
+  env = "release" if build_metadata.tested_channel else "master"
   dongle_id = Params().get("DongleId", encoding='utf-8')
 
   integrations = []
@@ -63,11 +63,13 @@ def init(project: SentryProject) -> bool:
                   max_value_length=8192,
                   environment=env)
 
+  build_metadata = get_build_metadata()
+
   sentry_sdk.set_user({"id": dongle_id})
-  sentry_sdk.set_tag("dirty", is_dirty())
-  sentry_sdk.set_tag("origin", get_origin())
-  sentry_sdk.set_tag("branch", get_branch())
-  sentry_sdk.set_tag("commit", get_commit())
+  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
+  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
+  sentry_sdk.set_tag("branch", build_metadata.channel)
+  sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
   sentry_sdk.set_tag("device", HARDWARE.get_device_type())
 
   if project == SentryProject.SELFDRIVE:

selfdrive/statsd.py

@@ -13,7 +13,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.file_helpers import atomic_write_in_dir
-from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
+from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
@@ -86,13 +86,15 @@ def main() -> NoReturn:
   # initialize stats directory
   Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
 
+  build_metadata = get_build_metadata()
+
   # initialize tags
   tags = {
     'started': False,
-    'version': get_short_version(),
-    'branch': get_short_branch(),
-    'dirty': is_dirty(),
-    'origin': get_normalized_origin(),
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
     'deviceType': HARDWARE.get_device_type(),
   }
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-4e5e37be9d70450154f8b100ed88151bb3612331
+28001018eae89eb4906717bebf892345ad590b5a

selfdrive/thermald/thermald.py

@@ -207,17 +207,10 @@ def thermald_thread(end_event, hw_queue) -> None:
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
-    # Run at 2Hz
-    if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
-      continue
-
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
-    msg = read_thermal(thermal_config)
-    msg.deviceState.deviceType = HARDWARE.get_device_type()
-
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
@@ -237,6 +230,14 @@ def thermald_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
+    # Run at 2Hz, plus rising edge of ignition
+    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge:
+      continue
+
+    msg = read_thermal(thermal_config)
+    msg.deviceState.deviceType = HARDWARE.get_device_type()
+
     try:
       last_hw_state = hw_queue.get_nowait()
     except queue.Empty:

selfdrive/tombstoned.py

@@ -11,8 +11,8 @@ from typing import NoReturn
 
 import openpilot.selfdrive.sentry as sentry
 from openpilot.system.hardware.hw import Paths
-from openpilot.common.git import get_commit
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.version import get_build_metadata
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
@@ -124,7 +124,9 @@ def report_tombstone_apport(fn):
   clean_path = path.replace('/', '_')
   date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
 
-  new_fn = f"{date}_{(get_commit() or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
+  build_metadata = get_build_metadata()
+
+  new_fn = f"{date}_{(build_metadata.openpilot.git_commit or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
   crashlog_dir = os.path.join(Paths.log_root(), "crash")
   os.makedirs(crashlog_dir, exist_ok=True)

selfdrive/ui/qt/maps/map_helpers.cc

@@ -137,17 +137,17 @@ std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &pa
 
 // return {distance, unit}
 std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
-  auto round_distance = [](float d) -> float {
-    return (d > 10) ? std::nearbyint(d) : std::nearbyint(d * 10) / 10.0;
+  auto round_distance = [](float d) -> QString {
+    return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1);
   };
 
   d = std::max(d, 0.0f);
   if (is_metric) {
-    return (d > 500) ? std::pair{QString::number(round_distance(d / 1000)), QObject::tr("km")}
+    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
                      : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
   } else {
     float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{QString::number(round_distance(d * METER_TO_MILE)), QObject::tr("mi")}
+    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
                         : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
   }
 }

selfdrive/ui/qt/offroad/settings.cc

@@ -1,5 +1,3 @@
-#include "selfdrive/ui/qt/offroad/settings.h"
-
 #include <cassert>
 #include <cmath>
 #include <string>
@@ -8,20 +6,14 @@
 
 #include <QDebug>
 
-#include "selfdrive/ui/qt/network/networking.h"
-
-#include "common/params.h"
 #include "common/watchdog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "selfdrive/ui/qt/widgets/toggle.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -215,6 +207,14 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
   addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
+  pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"),
+                                  tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
+  connect(pair_device, &ButtonControl::clicked, [=]() {
+    PairingPopup popup(this);
+    popup.exec();
+  });
+  addItem(pair_device);
+
   // offroad-only buttons
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
@@ -262,10 +262,15 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
+  QObject::connect(uiState(), &UIState::primeChanged, [this] (bool prime) {
+    pair_device->setVisible(!prime);
+  });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
+      if (btn != pair_device) {
         btn->setEnabled(offroad);
       }
+    }
   });
 
   // power buttons
@@ -345,6 +350,11 @@ void DevicePanel::poweroff() {
   }
 }
 
+void DevicePanel::showEvent(QShowEvent *event) {
+  pair_device->setVisible(!uiState()->primeType());
+  ListWidget::showEvent(event);
+}
+
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }

selfdrive/ui/qt/offroad/settings.h

@@ -10,7 +10,6 @@
 #include <QStackedWidget>
 #include <QWidget>
 
-
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -43,6 +42,8 @@ class DevicePanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DevicePanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
+
 signals:
   void reviewTrainingGuide();
   void showDriverView();
@@ -54,6 +55,7 @@ private slots:
 
 private:
   Params params;
+  ButtonControl *pair_device;
 };
 
 class TogglesPanel : public ListWidget {

selfdrive/ui/qt/onroad.cc

@@ -73,18 +73,16 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  QColor bgColor = bg_colors[s.status];
-  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  alerts->updateAlert(alert);
-
   if (s.scene.map_on_left) {
     split->setDirection(QBoxLayout::LeftToRight);
   } else {
     split->setDirection(QBoxLayout::RightToLeft);
   }
 
+  alerts->updateState(s);
   nvg->updateState(s);
 
+  QColor bgColor = bg_colors[s.status];
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;
@@ -105,27 +103,30 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   QWidget::mousePressEvent(e);
 }
 
-void OnroadWindow::offroadTransition(bool offroad) {
+void OnroadWindow::createMapWidget() {
 #ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
   auto m = new MapPanel(get_mapbox_settings());
   map = m;
-
   QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
   QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
   nvg->map_settings_btn->setEnabled(true);
 
   m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
   split->insertWidget(0, m);
-
   // hidden by default, made visible when navRoute is published
   m->setVisible(false);
+#endif
+}
+
+void OnroadWindow::offroadTransition(bool offroad) {
+#ifdef ENABLE_MAPS
+  if (!offroad) {
+    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
+      createMapWidget();
     }
   }
 #endif
-
-  alerts->updateAlert({});
+  alerts->clear();
 }
 
 void OnroadWindow::primeChanged(bool prime) {
@@ -135,6 +136,8 @@ void OnroadWindow::primeChanged(bool prime) {
     nvg->map_settings_btn->setVisible(false);
     map->deleteLater();
     map = nullptr;
+  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
+    createMapWidget();
   }
 #endif
 }
@@ -147,13 +150,56 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 // ***** onroad widgets *****
 
 // OnroadAlerts
-void OnroadAlerts::updateAlert(const Alert &a) {
+
+void OnroadAlerts::updateState(const UIState &s) {
+  Alert a = getAlert(*(s.sm), s.scene.started_frame);
   if (!alert.equal(a)) {
     alert = a;
     update();
   }
 }
 
+void OnroadAlerts::clear() {
+  alert = {};
+  update();
+}
+
+OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+  const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+  Alert a = {};
+  if (controls_frame >= started_frame) {  // Don't get old alert.
+    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+  }
+
+  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+    const int CONTROLS_TIMEOUT = 5;
+    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+
+    // Handle controls timeout
+    if (controls_frame < started_frame) {
+      // car is started, but controlsState hasn't been seen at all
+      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
+           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+           cereal::ControlsState::AlertStatus::NORMAL};
+    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
+      // car is started, but controls is lagging or died
+      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
+        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
+             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+             cereal::ControlsState::AlertStatus::CRITICAL};
+      } else {
+        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
+             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+             cereal::ControlsState::AlertStatus::NORMAL};
+      }
+    }
+  }
+  return a;
+}
+
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
   if (alert.size == cereal::ControlsState::AlertSize::NONE) {
     return;

selfdrive/ui/qt/onroad.h

@@ -21,12 +21,31 @@ class OnroadAlerts : public QWidget {
 
 public:
   OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateAlert(const Alert &a);
+  void updateState(const UIState &s);
+  void clear();
 
 protected:
+  struct Alert {
+    QString text1;
+    QString text2;
+    QString type;
+    cereal::ControlsState::AlertSize size;
+    cereal::ControlsState::AlertStatus status;
+
+    bool equal(const Alert &other) const {
+      return text1 == other.text1 && other.text2 == other.text2 && type == other.type;
+    }
+  };
+
+  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  };
+
   void paintEvent(QPaintEvent*) override;
+  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
 
-private:
   QColor bg;
   Alert alert = {};
 };
@@ -127,6 +146,7 @@ signals:
   void mapPanelRequested();
 
 private:
+  void createMapWidget();
   void paintEvent(QPaintEvent *event);
   void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;

selfdrive/ui/qt/sidebar.cc

@@ -55,7 +55,7 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
     flag_pressed = settings_pressed = false;
     update();
   }
-  if (home_btn.contains(event->pos())) {
+  if (onroad && home_btn.contains(event->pos())) {
     MessageBuilder msg;
     msg.initEvent().initUserFlag();
     pm->send("userFlag", msg);

selfdrive/ui/qt/util.cc

@@ -61,7 +61,7 @@ QString timeAgo(const QDateTime &date) {
 
   QString s;
   if (diff < 60) {
-    s = "now";
+    s = QObject::tr("now");
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
     s = QObject::tr("%n minute(s) ago", "", minutes);
@@ -105,20 +105,21 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
   std::signal(SIGINT, sigTermHandler);
   std::signal(SIGTERM, sigTermHandler);
 
-  if (disable_hidpi) {
+  QString app_dir;
 #ifdef __APPLE__
   // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
   QApplication tmp(argc, argv);
+  app_dir = QCoreApplication::applicationDirPath();
+  if (disable_hidpi) {
     qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
-#endif
   }
+#else
+  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
+#endif
 
   qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
-
   // ensure the current dir matches the exectuable's directory
-  QApplication tmp(argc, argv);
-  QString appDir = QCoreApplication::applicationDirPath();
-  QDir::setCurrent(appDir);
+  QDir::setCurrent(app_dir);
 
   setQtSurfaceFormat();
 }

selfdrive/ui/qt/widgets/cameraview.cc

@@ -98,7 +98,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 } // namespace
 
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
-                          stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);

selfdrive/ui/translations/main_ar.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>مراجعة</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>إقران الجهاز</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>إقران</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -480,6 +492,29 @@
         <translation> تنبيه</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot غير متوفر</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>في انتظار بدء عناصر التحكم</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>تحكم على الفور</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>الضوابط غير مستجيبة</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>إعادة التشغيل</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -615,6 +650,10 @@
         <source>ft</source>
         <translation>قدم</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>الآن</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -654,7 +693,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>تم تفعيل إعادة ضبط النظام. اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
     </message>
 </context>
 <context>
@@ -764,15 +803,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>اختر البرنامج للتثبيت</translation>
     </message>
     <message>
         <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>البرمجيات المخصصة</translation>
     </message>
 </context>
 <context>
@@ -1017,7 +1056,7 @@ This may take up to a minute.</source>
     <name>TogglesPanel</name>
     <message>
         <source>Enable openpilot</source>
-        <translation>تمكين</translation>
+        <translation>تمكين openpilot</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
@@ -1149,7 +1188,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>يوصى بالمعيار. في الوضع العدواني، سيتبع الطيار المفتوح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين والفرامل. في الوضع المريح، سيبقى openpilot بعيدًا عن السيارات الرائدة. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسافة عجلة القيادة.</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_de.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>Überprüfen</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> HINWEIS</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -598,6 +633,10 @@
         <source>ft</source>
         <translation>fuß</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_fr.ts

@@ -293,6 +293,18 @@
         <source>Disengage to Power Off</source>
         <translation>Désengager pour éteindre</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l&apos;offre comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -476,6 +488,29 @@
         <translation> ALERTE</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -599,6 +634,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_ja.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>確認</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -474,6 +486,29 @@
         <translation> 警告</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -594,6 +629,10 @@
         <source>ft</source>
         <translation>ﾌｨｰﾄ</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_ko.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>다시보기</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>장치 동기화</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>동기화</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,11 +487,34 @@
         <translation> 알림</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>오픈파일럿을 사용할수없습니다</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>프로세스가 준비중입니다</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>핸들을 잡아주세요</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>프로세스가 응답하지않습니다</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>장치를 재부팅하세요</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정에 페어링합니다</translation>
+        <translation>장치를 comma 계정에 동기화합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>now</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>Revisar</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Parear Dispositivo</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>PAREAR</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -476,6 +488,29 @@
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot Indisponível</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>Aguardando controles para iniciar</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ASSUMA IMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controles Não Respondem</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reinicie o Dispositivo</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -599,6 +634,10 @@
         <source>ft</source>
         <translation>pés</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>agora</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_th.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>ทบทวน</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> การแจ้งเตือน</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ฟุต</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_tr.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -474,6 +486,29 @@
         <translation> UYARI</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -594,6 +629,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>预览</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> 警报</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>回顧</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> 提醒</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>

selfdrive/ui/ui.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <map>
 #include <memory>
 #include <string>
 
@@ -22,7 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
-typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
@@ -47,59 +45,6 @@ constexpr vec3 default_face_kpts_3d[] = {
   {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
 };
 
-struct Alert {
-  QString text1;
-  QString text2;
-  QString type;
-  cereal::ControlsState::AlertSize size;
-  cereal::ControlsState::AlertStatus status;
-  AudibleAlert sound;
-
-  bool equal(const Alert &a2) {
-    return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
-  }
-
-  static Alert get(const SubMaster &sm, uint64_t started_frame) {
-    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    const uint64_t controls_frame = sm.rcv_frame("controlsState");
-
-    Alert alert = {};
-    if (controls_frame >= started_frame) {  // Don't get old alert.
-      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-               cs.getAlertType().cStr(), cs.getAlertSize(),
-               cs.getAlertStatus(),
-               cs.getAlertSound()};
-    }
-
-    if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-      const int CONTROLS_TIMEOUT = 5;
-      const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
-
-      // Handle controls timeout
-      if (controls_frame < started_frame) {
-        // car is started, but controlsState hasn't been seen at all
-        alert = {"openpilot Unavailable", "Waiting for controls to start",
-                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                 cereal::ControlsState::AlertStatus::NORMAL,
-                 AudibleAlert::NONE};
-      } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
-        // car is started, but controls is lagging or died
-        if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-          alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                   "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                   cereal::ControlsState::AlertStatus::CRITICAL,
-                   AudibleAlert::WARNING_IMMEDIATE};
-        } else {
-          alert = {"Controls Unresponsive", "Reboot Device",
-                   "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-                   cereal::ControlsState::AlertStatus::NORMAL,
-                   AudibleAlert::NONE};
-        }
-      }
-    }
-    return alert;
-  }
-};
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -123,11 +68,6 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
-  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
-};
 
 typedef struct UIScene {
   bool calibration_valid = false;

selfdrive/updated/updated.py

@@ -19,7 +19,7 @@ from openpilot.common.time import system_time_valid
 from openpilot.system.hardware import AGNOS, HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
-from openpilot.system.version import is_tested_branch
+from openpilot.system.version import get_build_metadata
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -325,8 +325,9 @@ class Updater:
 
     now = datetime.datetime.utcnow()
     dt = now - last_update
+    build_metadata = get_build_metadata()
     if failed_count > 15 and exception is not None and self.has_internet:
-      if is_tested_branch():
+      if build_metadata.tested_channel:
         extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists."
       else:
         extra_text = exception

system/hardware/tici/agnos.py

@@ -10,7 +10,7 @@ from collections.abc import Generator
 
 import requests
 
-import openpilot.system.hardware.tici.casync as casync
+import openpilot.system.updated.casync.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"

system/timed.py

@@ -8,6 +8,7 @@ from typing import NoReturn
 from timezonefinder import TimezoneFinder
 
 import cereal.messaging as messaging
+from openpilot.common.time import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import AGNOS
@@ -69,7 +70,8 @@ def main() -> NoReturn:
   while True:
     sm.update(1000)
 
-    msg = messaging.new_message('clocks', valid=True)
+    msg = messaging.new_message('clocks')
+    msg.valid = system_time_valid()
     msg.clocks.wallTimeNanos = time.time_ns()
     pm.send('clocks', msg)
 

system/updated/casync/casync.py

@@ -2,15 +2,19 @@
 import io
 import lzma
 import os
+import pathlib
 import struct
 import sys
 import time
 from abc import ABC, abstractmethod
 from collections import defaultdict, namedtuple
 from collections.abc import Callable
+from typing import IO
 
 import requests
 from Crypto.Hash import SHA512
+from openpilot.system.updated.casync import tar
+from openpilot.system.updated.casync.common import create_casync_tar_package
 
 CA_FORMAT_INDEX = 0x96824d9c7b129ff9
 CA_FORMAT_TABLE = 0xe75b9e112f17417d
@@ -37,20 +41,25 @@ class ChunkReader(ABC):
     ...
 
 
-class FileChunkReader(ChunkReader):
+class BinaryChunkReader(ChunkReader):
   """Reads chunks from a local file"""
-  def __init__(self, fn: str) -> None:
+  def __init__(self, file_like: IO[bytes]) -> None:
     super().__init__()
-    self.f = open(fn, 'rb')
-
-  def __del__(self):
-    self.f.close()
+    self.f = file_like
 
   def read(self, chunk: Chunk) -> bytes:
     self.f.seek(chunk.offset)
     return self.f.read(chunk.length)
 
 
+class FileChunkReader(BinaryChunkReader):
+  def __init__(self, path: str) -> None:
+    super().__init__(open(path, 'rb'))
+
+  def __del__(self):
+    self.f.close()
+
+
 class RemoteChunkReader(ChunkReader):
   """Reads lzma compressed chunks from a remote store"""
 
@@ -83,6 +92,20 @@ class RemoteChunkReader(ChunkReader):
     return decompressor.decompress(contents)
 
 
+class DirectoryTarChunkReader(BinaryChunkReader):
+  """creates a tar archive of a directory and reads chunks from it"""
+
+  def __init__(self, path: str, cache_file: str) -> None:
+    create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
+
+    self.f = open(cache_file, "rb")
+    return super().__init__(self.f)
+
+  def __del__(self):
+    self.f.close()
+    os.unlink(self.f.name)
+
+
 def parse_caibx(caibx_path: str) -> list[Chunk]:
   """Parses the chunks from a caibx file. Can handle both local and remote files.
   Returns a list of chunks with hash, offset and length"""
@@ -181,6 +204,21 @@ def extract(target: list[Chunk],
   return stats
 
 
+def extract_directory(target: list[Chunk],
+            sources: list[tuple[str, ChunkReader, ChunkDict]],
+            out_path: str,
+            tmp_file: str,
+            progress: Callable[[int], None] = None):
+  """extract a directory stored as a casync tar archive"""
+
+  stats = extract(target, sources, tmp_file, progress)
+
+  with open(tmp_file, "rb") as f:
+    tar.extract_tar_archive(f, pathlib.Path(out_path))
+
+  return stats
+
+
 def print_stats(stats: dict[str, int]):
   total_bytes = sum(stats.values())
   print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")

system/updated/casync/common.py

@@ -0,0 +1,55 @@
+import dataclasses
+import json
+import pathlib
+import subprocess
+
+from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata
+from openpilot.system.updated.casync import tar
+
+
+CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"]
+CASYNC_FILES = [BUILD_METADATA_FILENAME]
+
+
+def run(cmd):
+  return subprocess.check_output(cmd)
+
+
+def get_exclude_set(path) -> set[str]:
+  exclude_set = set(CASYNC_FILES)
+
+  for file in path.rglob("*"):
+    if file.is_file() or file.is_symlink():
+
+      while file.resolve() != path.resolve():
+        exclude_set.add(str(file.relative_to(path)))
+
+        file = file.parent
+
+  return exclude_set
+
+
+def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata, channel: str):
+  with open(path / BUILD_METADATA_FILENAME, "w") as f:
+    build_metadata_dict = dataclasses.asdict(build_metadata)
+    build_metadata_dict["channel"] = channel
+    build_metadata_dict["openpilot"].pop("is_dirty")  # this is determined at runtime
+    f.write(json.dumps(build_metadata_dict))
+
+
+def is_not_git(path: pathlib.Path) -> bool:
+  return ".git" not in path.parts
+
+
+def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path):
+  tar.create_tar_archive(output_path, target_dir, is_not_git)
+
+
+def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
+  tar_file = output_dir / f"{caibx_name}.tar"
+  create_casync_tar_package(target_dir, tar_file)
+  caibx_file = output_dir / f"{caibx_name}.caibx"
+  run(["casync", "make", *CASYNC_ARGS, caibx_file, str(tar_file)])
+  tar_file.unlink()
+  digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip()
+  return digest, caibx_file

system/updated/casync/tar.py

@@ -0,0 +1,38 @@
+import pathlib
+import tarfile
+from typing import IO, Callable
+
+
+def include_default(_) -> bool:
+  return True
+
+
+def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default):
+  """Creates a tar archive of a directory"""
+
+  with tarfile.open(filename, 'w') as tar:
+    for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True):
+      if not include(file):
+        continue
+      relative_path = str(file.relative_to(directory))
+      if file.is_symlink():
+        info = tarfile.TarInfo(relative_path)
+        info.type = tarfile.SYMTYPE
+        info.linkpath = str(file.readlink())
+        tar.addfile(info)
+
+      elif file.is_file():
+        info = tarfile.TarInfo(relative_path)
+        info.size = file.stat().st_size
+        info.type = tarfile.REGTYPE
+        info.mode = file.stat().st_mode
+        with file.open('rb') as f:
+          tar.addfile(info, f)
+
+
+def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path):
+  """Extracts a tar archive to a directory"""
+
+  tar = tarfile.open(fileobj=fh, mode='r')
+  tar.extractall(str(directory), filter=lambda info, path: info)
+  tar.close()

system/updated/casync/tests/test_casync.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import os
+import pathlib
 import unittest
 import tempfile
 import subprocess
 
-import openpilot.system.hardware.tici.casync as casync
+from openpilot.system.updated.casync import casync
+from openpilot.system.updated.casync import tar
 
 # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
 # sudo losetup -f /tmp/img.raw
@@ -149,5 +151,117 @@ class TestCasync(unittest.TestCase):
     self.assertLess(stats['remote'], len(self.contents))
 
 
+class TestCasyncDirectory(unittest.TestCase):
+  """Tests extracting a directory stored as a casync tar archive"""
+
+  NUM_FILES = 16
+
+  @classmethod
+  def setup_cache(cls, directory, files=None):
+    if files is None:
+      files = range(cls.NUM_FILES)
+
+    chunk_a = [i % 256 for i in range(1024)] * 512
+    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
+    zeroes = [0] * (1024 * 128)
+    cls.contents = chunk_a + chunk_b + zeroes + chunk_a
+    cls.contents = bytes(cls.contents)
+
+    for i in files:
+      with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f:
+        f.write(cls.contents)
+
+      os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt"))
+
+  @classmethod
+  def setUpClass(cls):
+    cls.tmpdir = tempfile.TemporaryDirectory()
+
+    # Create casync files
+    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
+    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
+
+    cls.directory_to_extract = tempfile.TemporaryDirectory()
+    cls.setup_cache(cls.directory_to_extract.name)
+
+    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar')
+    tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name))
+
+    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmpdir.cleanup()
+    cls.directory_to_extract.cleanup()
+
+  def setUp(self):
+    self.cache_dir = tempfile.TemporaryDirectory()
+    self.working_dir = tempfile.TemporaryDirectory()
+    self.out_dir = tempfile.TemporaryDirectory()
+
+  def tearDown(self):
+    self.cache_dir.cleanup()
+    self.working_dir.cleanup()
+    self.out_dir.cleanup()
+
+  def run_test(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    cache_filename = os.path.join(self.working_dir.name, "cache.tar")
+    tmp_filename = os.path.join(self.working_dir.name, "tmp.tar")
+
+    sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename)
+
+    with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f:
+      self.assertEqual(f.read(), self.contents)
+
+    with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f:
+      self.assertEqual(f.read(), self.contents)
+      self.assertEqual(os.readlink(os.path.join(self.out_dir.name, "link_0.txt")), "file_0.txt")
+
+    return stats
+
+  def test_no_cache(self):
+    self.setup_cache(self.cache_dir.name, [])
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertEqual(stats['cache'], 0)
+
+  def test_full_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    stats = self.run_test()
+    self.assertEqual(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+
+  def test_one_file_cache(self):
+    self.setup_cache(self.cache_dir.name, range(1))
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertLess(stats['cache'], stats['remote'])
+
+  def test_one_file_incorrect_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f:
+      f.write(b"1234")
+
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertGreater(stats['cache'], stats['remote'])
+
+  def test_one_file_missing_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    os.unlink(os.path.join(self.cache_dir.name, "file_12.txt"))
+
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertGreater(stats['cache'], stats['remote'])
+
+
 if __name__ == "__main__":
   unittest.main()

system/version.py

@@ -1,17 +1,22 @@
 #!/usr/bin/env python3
+from dataclasses import dataclass
+import json
 import os
+import pathlib
 import subprocess
 
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.utils import cache
-from openpilot.common.git import get_origin, get_branch, get_short_branch, get_normalized_origin, get_commit_date
+from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
 
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 
+BUILD_METADATA_FILENAME = "build.json"
+
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"
 
@@ -28,30 +33,12 @@ def get_release_notes(path: str = BASEDIR) -> str:
 
 
 @cache
-def get_short_version() -> str:
-  return get_version().split('-')[0]
-
-@cache
-def is_prebuilt() -> bool:
-  return os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
+def is_prebuilt(path: str = BASEDIR) -> bool:
+  return os.path.exists(os.path.join(path, 'prebuilt'))
 
 
 @cache
-def is_comma_remote() -> bool:
-  # note to fork maintainers, this is used for release metrics. please do not
-  # touch this to get rid of the orange startup alert. there's better ways to do that
-  return get_normalized_origin() == "github.com/commaai/openpilot"
-
-@cache
-def is_tested_branch() -> bool:
-  return get_short_branch() in TESTED_BRANCHES
-
-@cache
-def is_release_branch() -> bool:
-  return get_short_branch() in RELEASE_BRANCHES
-
-@cache
-def is_dirty() -> bool:
+def is_dirty(cwd: str = BASEDIR) -> bool:
   origin = get_origin()
   branch = get_branch()
   if not origin or not branch:
@@ -60,14 +47,14 @@ def is_dirty() -> bool:
   dirty = False
   try:
     # Actually check dirty files
-    if not is_prebuilt():
+    if not is_prebuilt(cwd):
       # This is needed otherwise touched files might show up as modified
       try:
-        subprocess.check_call(["git", "update-index", "--refresh"])
+        subprocess.check_call(["git", "update-index", "--refresh"], cwd=cwd)
       except subprocess.CalledProcessError:
         pass
 
-      dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0)
+      dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0
   except subprocess.CalledProcessError:
     cloudlog.exception("git subprocess failed while checking dirty")
     dirty = True
@@ -75,6 +62,97 @@ def is_dirty() -> bool:
   return dirty
 
 
+@dataclass
+class OpenpilotMetadata:
+  version: str
+  release_notes: str
+  git_commit: str
+  git_origin: str
+  git_commit_date: str
+  build_style: str
+  is_dirty: bool  # whether there are local changes
+
+  @property
+  def short_version(self) -> str:
+    return self.version.split('-')[0]
+
+  @property
+  def comma_remote(self) -> bool:
+    # note to fork maintainers, this is used for release metrics. please do not
+    # touch this to get rid of the orange startup alert. there's better ways to do that
+    return self.git_normalized_origin == "github.com/commaai/openpilot"
+
+  @property
+  def git_normalized_origin(self) -> str:
+    return self.git_origin \
+      .replace("git@", "", 1) \
+      .replace(".git", "", 1) \
+      .replace("https://", "", 1) \
+      .replace(":", "/", 1)
+
+
+@dataclass
+class BuildMetadata:
+  channel: str
+  openpilot: OpenpilotMetadata
+
+  @property
+  def tested_channel(self) -> bool:
+    return self.channel in TESTED_BRANCHES
+
+  @property
+  def release_channel(self) -> bool:
+    return self.channel in RELEASE_BRANCHES
+
+  @property
+  def canonical(self) -> str:
+    return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
+
+
+def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata:
+  channel = build_metadata.get("channel", "unknown")
+  openpilot_metadata = build_metadata.get("openpilot", {})
+  version = openpilot_metadata.get("version", "unknown")
+  release_notes = openpilot_metadata.get("release_notes", "unknown")
+  git_commit = openpilot_metadata.get("git_commit", "unknown")
+  git_origin = openpilot_metadata.get("git_origin", "unknown")
+  git_commit_date = openpilot_metadata.get("git_commit_date", "unknown")
+  build_style = openpilot_metadata.get("build_style", "unknown")
+  return BuildMetadata(channel,
+            OpenpilotMetadata(
+              version=version,
+              release_notes=release_notes,
+              git_commit=git_commit,
+              git_origin=git_origin,
+              git_commit_date=git_commit_date,
+              build_style=build_style,
+              is_dirty=False))
+
+
+def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
+  build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME
+
+  if build_metadata_path.exists():
+    build_metadata = json.loads(build_metadata_path.read_text())
+    return build_metadata_from_dict(build_metadata)
+
+  git_folder = pathlib.Path(path) / ".git"
+
+  if git_folder.exists():
+    return BuildMetadata(get_short_branch(path),
+                    OpenpilotMetadata(
+                      version=get_version(path),
+                      release_notes=get_release_notes(path),
+                      git_commit=get_commit(path),
+                      git_origin=get_origin(path),
+                      git_commit_date=get_commit_date(path),
+                      build_style="unknown",
+                      is_dirty=is_dirty(path)))
+
+  cloudlog.exception("unable to get build metadata")
+  raise Exception("invalid build metadata")
+
+
 if __name__ == "__main__":
   from openpilot.common.params import Params
 
@@ -82,12 +160,4 @@ if __name__ == "__main__":
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
 
-  print(f"Dirty: {is_dirty()}")
-  print(f"Version: {get_version()}")
-  print(f"Short version: {get_short_version()}")
-  print(f"Origin: {get_origin()}")
-  print(f"Normalized origin: {get_normalized_origin()}")
-  print(f"Branch: {get_branch()}")
-  print(f"Short branch: {get_short_branch()}")
-  print(f"Prebuilt: {is_prebuilt()}")
-  print(f"Commit date: {get_commit_date()}")
+  print(get_build_metadata())

teleoprtc_repo

@@ -1 +1 @@
-Subproject commit ab2f09706e8f64390e196f079ac69e67131b07f5
+Subproject commit 3116a5053bc22b912254f1f7000ab9e267916cd5

third_party/libyuv/.gitignore

@@ -0,0 +1 @@
+libyuv/

third_party/libyuv/build.sh

@@ -1,10 +1,37 @@
 #!/usr/bin/env bash
 set -e
 
-git clone https://chromium.googlesource.com/libyuv/libyuv
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+ARCHNAME=$(uname -m)
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ARCHNAME="Darwin"
+fi
+
+cd $DIR
+if [ ! -d libyuv ]; then
+  git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv
+fi
+
 cd libyuv
-git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+
+# build
 cmake .
+make -j$(nproc)
+
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+rm -rf $DIR/include
+mkdir -p $INSTALL_DIR/lib
+cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib
+cp -r $DIR/libyuv/include $DIR
 
 ## To create universal binary on Darwin:
 ## ```

third_party/maplibre-native-qt/build.sh

@@ -3,35 +3,33 @@ set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-ARCHNAME="x86_64"
+ARCHNAME=$(uname -m)
 MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF"
-if [ -f /AGNOS ]; then
+if [ -f /TICI ]; then
   ARCHNAME="larch64"
   #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a"
 fi
 
 cd $DIR
 if [ ! -d maplibre ]; then
-  git clone git@github.com:maplibre/maplibre-native-qt.git $DIR/maplibre
+  git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre
 fi
 
 cd maplibre
-git fetch --all
 git checkout 3726266e127c1f94ad64837c9dbe03d238255816
 git submodule update --depth=1 --recursive --init
 
 # build
 mkdir -p build
 cd build
-set -x
 cmake $MAPLIBRE_FLAGS $DIR/maplibre
-make -j$(nproc) || make -j2 || make -j1
+make -j$(nproc)
 
 INSTALL_DIR="$DIR/$ARCHNAME"
 rm -rf $INSTALL_DIR
 mkdir -p $INSTALL_DIR
 
-rm -rf $INSTALL_DIR/lib $DIR/include
+rm -rf $DIR/include
 mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include
 cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib
 cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include

tools/cabana/dbc/dbcfile.cc

@@ -80,8 +80,8 @@ void DBCFile::parse(const QString &content) {
   static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
   static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
   static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)");
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)");
+  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
   static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
 
   int line_num = 0;
@@ -173,7 +173,7 @@ void DBCFile::parse(const QString &content) {
       auto match = msg_comment_regexp.match(line);
       dbc_assert(match.hasMatch());
       if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) {
-        m->comment = match.captured(2).trimmed();
+        m->comment = match.captured(2).trimmed().replace("\\\"", "\"");
       }
     } else if (line.startsWith("CM_ SG_ ")) {
       if (!line.endsWith("\";")) {
@@ -183,7 +183,7 @@ void DBCFile::parse(const QString &content) {
       auto match = sg_comment_regexp.match(line);
       dbc_assert(match.hasMatch());
       if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
-        s->comment = match.captured(3).trimmed();
+        s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
       }
     } else {
       seen = false;
@@ -207,7 +207,7 @@ QString DBCFile::generateDBC() {
     const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
     dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
-      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
+      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
     }
     for (auto sig : m.getSignals()) {
       QString multiplexer_indicator;
@@ -230,7 +230,7 @@ QString DBCFile::generateDBC() {
                         .arg(sig->unit)
                         .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
-        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
+        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
       }
       if (!sig->val_desc.empty()) {
         QStringList text;

tools/cabana/dbc/generate_dbc_json.py

@@ -2,11 +2,17 @@
 import argparse
 import json
 
-from openpilot.selfdrive.car.values import create_platform_map
+from openpilot.selfdrive.car.fingerprints import MIGRATION
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 def generate_dbc_json() -> str:
-  dbc_map = create_platform_map(lambda platform: platform.config.dbc_dict["pt"] if platform != "MOCK" else None)
+  dbc_map = {platform.name: platform.config.dbc_dict['pt'] for platform in PLATFORMS.values() if platform != "MOCK"}
+
+  for m in MIGRATION:
+    if MIGRATION[m] in dbc_map:
+      dbc_map[m] = dbc_map[MIGRATION[m]]
+
   return json.dumps(dict(sorted(dbc_map.items())), indent=2)
 
 

tools/cabana/tests/test_cabana.cc

@@ -65,6 +65,17 @@ CM_ SG_ 160 signal_1 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
+TEST_CASE("DBCFile::generateDBC - escaped quotes") {
+  QString content = R"(BO_ 160 message_1: 8 EON
+ SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+CM_ BO_ 160 "message comment with \"escaped quotes\"";
+CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
+)";
+  DBCFile dbc("", content);
+  REQUIRE(dbc.generateDBC() == content);
+}
+
 TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON
@@ -82,7 +93,11 @@ CM_ SG_ 160 signal_1 "signal comment";
 CM_ SG_ 160 signal_2 "multiple line comment 
 1
 2
-";)";
+";
+
+CM_ BO_ 162 "message comment with \"escaped quotes\"";
+CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
+)";
 
   DBCFile file("", content);
   auto msg = file.msg(160);
@@ -121,6 +136,10 @@ CM_ SG_ 160 signal_2 "multiple line comment
   REQUIRE(msg->sigs[1]->start_bit == 12);
   REQUIRE(msg->sigs[1]->size == 1);
   REQUIRE(msg->sigs[1]->receiver_name == "XXX");
+
+  // escaped quotes
+  REQUIRE(msg->comment == "message comment with \"escaped quotes\"");
+  REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
 }
 
 TEST_CASE("parse_opendbc") {

tools/foxglove/fox.py

@@ -0,0 +1,304 @@
+#!/usr/bin/env python3
+import sys
+import json
+import base64
+import os
+import subprocess
+from multiprocessing import Pool
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+
+try:
+  from mcap.writer import Writer, CompressionType
+except ImportError:
+  print("mcap module not found. Attempting to install...")
+  subprocess.run([sys.executable, "-m", "pip", "install", "mcap"])
+  # Attempt to import again after installation
+  try:
+    from mcap.writer import Writer, CompressionType
+  except ImportError:
+    print("Failed to install mcap module. Exiting.")
+    sys.exit(1)
+
+
+FOXGLOVE_IMAGE_SCHEME_TITLE = "foxglove.CompressedImage"
+FOXGLOVE_GEOJSON_TITLE = "foxglove.GeoJSON"
+FOXGLOVE_IMAGE_ENCODING = "base64"
+OUT_MCAP_FILE_NAME = "json_log.mcap"
+RLOG_FOLDER = "rlogs"
+SCHEMAS_FOLDER = "schemas"
+SCHEMA_EXTENSION = ".json"
+
+schemas: dict[str, int] = {}
+channels: dict[str, int] = {}
+writer: Writer
+
+
+def convertBytesToString(data):
+  if isinstance(data, bytes):
+    return data.decode('latin-1')  # Assuming UTF-8 encoding, adjust if needed
+  elif isinstance(data, list):
+    return [convertBytesToString(item) for item in data]
+  elif isinstance(data, dict):
+    return {key: convertBytesToString(value) for key, value in data.items()}
+  else:
+    return data
+
+
+# Load jsonscheme for every Event
+def loadSchema(schemaName):
+  with open(os.path.join(SCHEMAS_FOLDER, schemaName + SCHEMA_EXTENSION), "r") as file:
+    return json.loads(file.read())
+
+
+# Foxglove creates one graph of an array, and not one for each item of an array
+# This can be avoided by transforming array to separate objects
+def transformListsToJsonDict(json_data):
+  def convert_array_to_dict(array):
+    new_dict = {}
+    for index, item in enumerate(array):
+      if isinstance(item, dict):
+        new_dict[index] = transformListsToJsonDict(item)
+      else:
+        new_dict[index] = item
+    return new_dict
+
+  new_data = {}
+  for key, value in json_data.items():
+    if isinstance(value, list):
+      new_data[key] = convert_array_to_dict(value)
+    elif isinstance(value, dict):
+      new_data[key] = transformListsToJsonDict(value)
+    else:
+      new_data[key] = value
+  return new_data
+
+
+# Transform openpilot thumbnail to foxglove compressedImage
+def transformToFoxgloveSchema(jsonMsg):
+  bytesImgData = jsonMsg.get("thumbnail").get("thumbnail").encode('latin1')
+  base64ImgData = base64.b64encode(bytesImgData)
+  base64_string = base64ImgData.decode('utf-8')
+  foxMsg = {
+    "timestamp": {"sec": "0", "nsec": jsonMsg.get("logMonoTime")},
+    "frame_id": str(jsonMsg.get("thumbnail").get("frameId")),
+    "data": base64_string,
+    "format": "jpeg",
+  }
+  return foxMsg
+
+
+# TODO: Check if there is a tool to build GEOJson
+def transformMapCoordinates(jsonMsg):
+  coordinates = []
+  for jsonCoords in jsonMsg.get("navRoute").get("coordinates"):
+    coordinates.append([jsonCoords.get("longitude"), jsonCoords.get("latitude")])
+
+  # Define the GeoJSON
+  geojson_data = {
+    "type": "FeatureCollection",
+    "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": coordinates}, "logMonoTime": jsonMsg.get("logMonoTime")}],
+  }
+
+  # Create the final JSON with the GeoJSON data encoded as a string
+  geoJson = {"geojson": json.dumps(geojson_data)}
+
+  return geoJson
+
+
+def jsonToScheme(jsonData):
+  zeroArray = False
+  schema = {"type": "object", "properties": {}, "required": []}
+  for key, value in jsonData.items():
+    if isinstance(value, dict):
+      tempScheme, zeroArray = jsonToScheme(value)
+      if tempScheme == 0:
+        return 0
+      schema["properties"][key] = tempScheme
+      schema["required"].append(key)
+    elif isinstance(value, list):
+      if all(isinstance(item, dict) for item in value) and len(value) > 0:  # Handle zero value arrays
+        # Handle array of objects
+        tempScheme, zeroArray = jsonToScheme(value[0])
+        schema["properties"][key] = {"type": "array", "items": tempScheme if value else {}}
+        schema["required"].append(key)
+      else:
+        if len(value) == 0:
+          zeroArray = True
+        # Handle array of primitive types
+        schema["properties"][key] = {"type": "array", "items": {"type": "string"}}
+        schema["required"].append(key)
+    else:
+      typeName = type(value).__name__
+      if typeName == "str":
+        typeName = "string"
+      elif typeName == "bool":
+        typeName = "boolean"
+      elif typeName == "float":
+        typeName = "number"
+      elif typeName == "int":
+        typeName = "integer"
+      schema["properties"][key] = {"type": typeName}
+      schema["required"].append(key)
+
+  return schema, zeroArray
+
+
+def saveScheme(scheme, schemaFileName):
+  schemaFileName = schemaFileName + SCHEMA_EXTENSION
+  # Create the new schemas folder
+  os.makedirs(SCHEMAS_FOLDER, exist_ok=True)
+  with open(os.path.join(SCHEMAS_FOLDER, schemaFileName), 'w') as json_file:
+    json.dump(convertBytesToString(scheme), json_file)
+
+
+def convertToFoxGloveFormat(jsonData, rlogTopic):
+  jsonData["title"] = rlogTopic
+  if rlogTopic == "thumbnail":
+    jsonData = transformToFoxgloveSchema(jsonData)
+    jsonData["title"] = FOXGLOVE_IMAGE_SCHEME_TITLE
+  elif rlogTopic == "navRoute":
+    jsonData = transformMapCoordinates(jsonData)
+    jsonData["title"] = FOXGLOVE_GEOJSON_TITLE
+  else:
+    jsonData = transformListsToJsonDict(jsonData)
+  return jsonData
+
+
+def generateSchemas():
+  listOfDirs = os.listdir(RLOG_FOLDER)
+  # Open every dir in rlogs
+  for directory in listOfDirs:
+    # List every file in every rlog dir
+    dirPath = os.path.join(RLOG_FOLDER, directory)
+    listOfFiles = os.listdir(dirPath)
+    lastIteration = len(listOfFiles)
+    for iteration, file in enumerate(listOfFiles):
+      # Load json data from every file until found one without empty arrays
+      filePath = os.path.join(dirPath, file)
+      with open(filePath, 'r') as jsonFile:
+        jsonData = json.load(jsonFile)
+        scheme, zerroArray = jsonToScheme(jsonData)
+        # If array of len 0 has been found, type of its data can not be parsed, skip to the next log
+        # in search for a non empty array. If there is not an non empty array in logs, put a dummy string type
+        if zerroArray and not iteration == lastIteration - 1:
+          continue
+        title = jsonData.get("title")
+        scheme["title"] = title
+        # Add contentEncoding type, hardcoded in foxglove format
+        if title == FOXGLOVE_IMAGE_SCHEME_TITLE:
+          scheme["properties"]["data"]["contentEncoding"] = FOXGLOVE_IMAGE_ENCODING
+        saveScheme(scheme, directory)
+        break
+
+
+def downloadLogs(logPaths):
+  segment_counter = 0
+  for logPath in logPaths:
+    segment_counter += 1
+    msg_counter = 1
+    print(segment_counter)
+    rlog = LogReader(logPath)
+    for msg in rlog:
+      jsonMsg = json.loads(json.dumps(convertBytesToString(msg.to_dict())))
+      jsonMsg = convertToFoxGloveFormat(jsonMsg, msg.which())
+      rlog_dir_path = os.path.join(RLOG_FOLDER, msg.which())
+      if not os.path.exists(rlog_dir_path):
+        os.makedirs(rlog_dir_path)
+      file_path = os.path.join(rlog_dir_path, str(segment_counter) + "," + str(msg_counter))
+      with open(file_path, 'w') as json_file:
+        json.dump(jsonMsg, json_file)
+      msg_counter += 1
+
+
+def getLogMonoTime(jsonMsg):
+  if jsonMsg.get("title") == FOXGLOVE_IMAGE_SCHEME_TITLE:
+    logMonoTime = jsonMsg.get("timestamp").get("nsec")
+  elif jsonMsg.get("title") == FOXGLOVE_GEOJSON_TITLE:
+    logMonoTime = json.loads(jsonMsg.get("geojson")).get("features")[0].get("logMonoTime")
+  else:
+    logMonoTime = jsonMsg.get("logMonoTime")
+  return logMonoTime
+
+
+def processMsgs(args):
+  msgFile, rlogTopicPath, rlogTopic = args
+  msgFilePath = os.path.join(rlogTopicPath, msgFile)
+  with open(msgFilePath, "r") as file:
+    jsonMsg = json.load(file)
+    logMonoTime = getLogMonoTime(jsonMsg)
+    return {'channel_id': channels[rlogTopic], 'log_time': logMonoTime, 'data': json.dumps(jsonMsg).encode("utf-8"), 'publish_time': logMonoTime}
+
+
+# Get logs from a path, and convert them into mcap
+def createMcap(logPaths):
+  print(f"Downloading logs [{len(logPaths)}]")
+  downloadLogs(logPaths)
+  print("Creating schemas")
+  generateSchemas()
+  print("Creating mcap file")
+
+  listOfRlogTopics = os.listdir(RLOG_FOLDER)
+  print(f"Registering schemas and channels [{len(listOfRlogTopics)}]")
+  for counter, rlogTopic in enumerate(listOfRlogTopics):
+    print(counter)
+    schema = loadSchema(rlogTopic)
+    schema_id = writer.register_schema(name=schema.get("title"), encoding="jsonschema", data=json.dumps(schema).encode())
+    schemas[rlogTopic] = schema_id
+    channel_id = writer.register_channel(schema_id=schemas[rlogTopic], topic=rlogTopic, message_encoding="json")
+    channels[rlogTopic] = channel_id
+    rlogTopicPath = os.path.join(RLOG_FOLDER, rlogTopic)
+    msgFiles = os.listdir(rlogTopicPath)
+    pool = Pool()
+    results = pool.map(processMsgs, [(msgFile, rlogTopicPath, rlogTopic) for msgFile in msgFiles])
+    pool.close()
+    pool.join()
+    for result in results:
+      writer.add_message(channel_id=result['channel_id'], log_time=result['log_time'], data=result['data'], publish_time=result['publish_time'])
+
+
+def is_program_installed(program_name):
+  try:
+    # Check if the program is installed using dpkg (for traditional Debian packages)
+    subprocess.run(["dpkg", "-l", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+    return True
+  except subprocess.CalledProcessError:
+    # Check if the program is installed using snap
+    try:
+      subprocess.run(["snap", "list", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+      return True
+    except subprocess.CalledProcessError:
+      return False
+
+
+if __name__ == '__main__':
+  # Example usage:
+  program_name = "foxglove-studio"  # Change this to the program you want to check
+  if is_program_installed(program_name):
+    print(f"{program_name} detected.")
+  else:
+    print(f"{program_name} could not be detected.")
+    installFoxglove = input("Would you like to install it? YES/NO? - ")
+    if installFoxglove.lower() == "yes":
+      try:
+        subprocess.run(['./install_foxglove.sh'], check=True)
+        print("Installation completed successfully.")
+      except subprocess.CalledProcessError as e:
+        print(f"Installation failed with return code {e.returncode}.")
+  # Get a route
+  if len(sys.argv) == 1:
+    route_name = "a2a0ccea32023010|2023-07-27--13-01-19"
+    print("No route was provided, using demo route")
+  else:
+    route_name = sys.argv[1]
+  # Get logs for a route
+  print("Getting route log paths")
+  route = Route(route_name)
+  logPaths = route.log_paths()
+  # Start mcap writer
+  with open(OUT_MCAP_FILE_NAME, "wb") as stream:
+    writer = Writer(stream, compression=CompressionType.NONE)
+    writer.start()
+    createMcap(logPaths)
+    writer.finish()
+    print(f"File {OUT_MCAP_FILE_NAME} has been successfully created. Please import it into foxglove studio to continue.")

tools/foxglove/install_foxglove.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+echo "Installing foxglvoe studio..."
+sudo snap install foxglove-studio

tools/install_ubuntu_dependencies.sh

@@ -75,6 +75,7 @@ function install_ubuntu_common_requirements() {
     libqt5charts5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
+    libqt5opengl5-dev \
     libreadline-dev \
     libdw1 \
     valgrind

tools/lib/helpers.py

@@ -1,7 +1,4 @@
 import bz2
-import datetime
-
-TIME_FMT = "%Y-%m-%d--%H-%M-%S"
 
 
 # regex patterns
@@ -23,13 +20,6 @@ class RE:
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
 
 
-def timestamp_to_datetime(t: str) -> datetime.datetime:
-  """
-    Convert an openpilot route timestamp to a python datetime
-  """
-  return datetime.datetime.strptime(t, TIME_FMT)
-
-
 def save_log(dest, log_msgs, compress=True):
   dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)