Merge branch 'master' into db10_2

.github/workflows/repo-maintenance.yaml

@@ -11,6 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -36,6 +37,7 @@ jobs:
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
     - name: poetry lock

.github/workflows/selfdrive_tests.yaml

@@ -14,7 +14,6 @@ concurrency:
 env:
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -22,10 +21,6 @@ env:
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
-  BUILD_CL: selfdrive/test/docker_build.sh cl
-
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
-
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
 jobs:
@@ -106,11 +101,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Build and push CL Docker image
-      if: matrix.arch == 'x86_64'
-      run: |
-        unset TARGET_ARCHITECTURE
-        eval "$BUILD_CL"
 
   docker_push_multiarch:
     name: docker push multiarch tag
@@ -127,7 +117,7 @@ jobs:
     - name: Merge x64 and arm64 tags
       run: |
         export PUSH_IMAGE=true
-        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
 
   static_analysis:
     name: static analysis
@@ -258,15 +248,13 @@ jobs:
         key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build base Docker image
       run: eval "$BUILD"
-    - name: Build Docker image
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run regen
       timeout-minutes: 30
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                            chmod -R 777 /tmp/comma_download_cache"
 
   test_modeld:
@@ -279,9 +267,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
-    - name: Build Docker image
-      # Sim docker is needed to get the OpenCL drivers
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -289,14 +274,14 @@ jobs:
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage combine && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
@@ -328,7 +313,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 25
+      timeout-minutes: 10
       run: |
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"

.github/workflows/tools_tests.yaml

@@ -12,17 +12,12 @@ concurrency:
 
 env:
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
-  BUILD_CL: selfdrive/test/docker_build.sh cl
-
-  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
-
 
 jobs:
   plotjuggler:
@@ -52,8 +47,6 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build base cl image
-      run: eval "$BUILD_CL"
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
@@ -104,6 +97,6 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test notebooks
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"

.pre-commit-config.yaml

@@ -32,6 +32,11 @@ repos:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.2.2
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: mypy
@@ -43,11 +48,6 @@ repos:
         - --local-partial-types
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.0
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -74,6 +74,14 @@ repos:
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.0
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
 -   repo: local
     hooks:
     -   id: test_translations
@@ -90,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.27.4
+    rev: 0.28.0
     hooks:
     -   id: check-github-workflows

Dockerfile.openpilot_base

@@ -22,6 +22,44 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+
 ARG USER=batman
 ARG USER_UID=1000
 RUN useradd -m -s /bin/bash -u $USER_UID $USER

Dockerfile.openpilot_base_cl

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

Jenkinsfile

@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o ConnectTimeout=30 -o ServerAliveInterval=30 -o ServerAliveCountMax=3 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
 
 set -e
 
+shopt -s huponexit # kill all child processes when the shell exits
+
 export CI=1
 export PYTHONWARNINGS=error
 export LOGPRINT=debug
@@ -85,10 +87,6 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) {
-              println "Skipped '${item[0]}', no relevant changes were detected."
-              return;
-            }
             device(device_ip, item[0], item[1])
           }
         }
@@ -143,20 +141,6 @@ def setupCredentials() {
   }
 }
 
-def hasDirectoryChanged(List<String> paths) {
-  for (change in currentBuild.changeSets) {
-    for (item in change.items) {
-      for (affectedPath in item.affectedPaths) {
-        for (path in paths) {
-          if (affectedPath.startsWith(path)) {
-            return true
-          }
-        }
-      }
-    }
-  }
-  return false
-}
 
 node {
   env.CI = "1"
@@ -207,7 +191,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
@@ -252,31 +236,13 @@ node {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
         ])
       },
 
-      // *** PC tests ***
-      'PC tests': {
-        pcStage("PC tests") {
-          // tests that our build system's dependencies are configured properly,
-          // needs a machine with lots of cores
-          sh label: "test multi-threaded build",
-             script: '''#!/bin/bash
-                        scons --no-cache --random -j$(nproc)'''
-        }
-      },
-      'car tests': {
-        pcStage("car tests") {
-          sh label: "build", script: "selfdrive/manager/build.py"
-          sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=300 INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 \
-              INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py"
-        }
-      },
-
     )
     }
   } catch (Exception e) {

RELEASES.md

@@ -1,4 +1,9 @@
-Version 0.9.6 (2024-02-XX)
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+* Support for many hybrid Ford models
+
+Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
   * Vision model trained on more data
@@ -9,8 +14,12 @@ Version 0.9.6 (2024-02-XX)
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
 * Toyota RAV4 2023-24 support
 * Toyota RAV4 Hybrid 2023-24 support
 

cereal

@@ -1 +1 @@
-Subproject commit 80e1e55f0dd71cea7f596e8b80c7c33865b689f3
+Subproject commit 2fba1381f40df2654f42a2e4bed869f2b7d01a52

common/file_helpers.py

@@ -1,7 +1,6 @@
 import os
 import tempfile
 import contextlib
-from typing import Optional
 
 
 class CallbackReader:
@@ -24,7 +23,7 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
                         overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)

common/gpio.py

@@ -1,6 +1,5 @@
 import os
 from functools import lru_cache
-from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -16,7 +15,7 @@ def gpio_set(pin: int, high: bool) -> None:
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
 
-def gpio_read(pin: int) -> Optional[bool]:
+def gpio_read(pin: int) -> bool | None:
   val = None
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
@@ -37,7 +36,7 @@ def gpio_export(pin: int) -> None:
     print(f"Failed to export gpio {pin}")
 
 @lru_cache(maxsize=None)
-def get_irq_action(irq: int) -> List[str]:
+def get_irq_action(irq: int) -> list[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:
       actions = f.read().strip().split(',')
@@ -45,7 +44,7 @@ def get_irq_action(irq: int) -> List[str]:
   except FileNotFoundError:
     return []
 
-def get_irqs_for_action(action: str) -> List[str]:
+def get_irqs_for_action(action: str) -> list[str]:
   ret = []
   with open("/proc/interrupts") as f:
     for l in f.readlines():

common/mock/__init__.py

@@ -6,7 +6,6 @@ example in common/tests/test_mock.py
 
 import functools
 import threading
-from typing import List, Union
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock.generators import generate_liveLocationKalman
@@ -18,7 +17,7 @@ MOCK_GENERATOR = {
 }
 
 
-def generate_messages_loop(services: List[str], done: threading.Event):
+def generate_messages_loop(services: list[str], done: threading.Event):
   pm = PubMaster(services)
   rk = Ratekeeper(100)
   i = 0
@@ -32,7 +31,7 @@ def generate_messages_loop(services: List[str], done: threading.Event):
     rk.keep_time()
 
 
-def mock_messages(services: Union[List[str], str]):
+def mock_messages(services: list[str] | str):
   if isinstance(services, str):
     services = [services]
 

common/params.cc

@@ -125,6 +125,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
     {"GithubSshKeys", PERSISTENT},
     {"GithubUsername", PERSISTENT},

common/params_pyx.pyx

@@ -29,7 +29,7 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass

common/prefix.py

@@ -2,14 +2,13 @@ import os
 import shutil
 import uuid
 
-from typing import Optional
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit

common/realtime.py

@@ -3,7 +3,6 @@ import gc
 import os
 import time
 from collections import deque
-from typing import Optional, List, Union
 
 from setproctitle import getproctitle
 
@@ -33,12 +32,12 @@ def set_realtime_priority(level: int) -> None:
     os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
 
 
-def set_core_affinity(cores: List[int]) -> None:
+def set_core_affinity(cores: list[int]) -> None:
   if not PC:
     os.sched_setaffinity(0, cores)
 
 
-def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
+def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
   c = cores if isinstance(cores, list) else [cores, ]
@@ -46,7 +45,7 @@ def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None
 
 
 class Ratekeeper:
-  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = time.monotonic() + self._interval

common/transformations/orientation.py

@@ -1,5 +1,5 @@
 import numpy as np
-from typing import Callable
+from collections.abc import Callable
 
 from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,

common/transformations/transformations.pyx

@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -61,7 +60,7 @@ def euler2quat_single(euler):
 
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
 def quat2rot_single(quat):

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6"
+#define COMMA_VERSION "0.9.7"

conftest.py

@@ -1,3 +1,5 @@
+import contextlib
+import gc
 import os
 import pytest
 import random
@@ -24,12 +26,19 @@ def pytest_runtest_call(item):
     yield
 
 
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
+@contextlib.contextmanager
+def clean_env():
   starting_env = dict(os.environ)
+  yield
+  os.environ.clear()
+  os.environ.update(starting_env)
 
+
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture(request):
   random.seed(0)
 
+  with clean_env():
     # setup a clean environment for each test
     with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
       prefix = os.environ["OPENPILOT_PREFIX"]
@@ -39,31 +48,28 @@ def openpilot_function_fixture(request):
       # ensure the test doesn't change the prefix
       assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
 
-  os.environ.clear()
-  os.environ.update(starting_env)
-
     # cleanup any started processes
     manager.manager_cleanup()
 
+    # some processes disable gc for performance, re-enable here
+    if not gc.isenabled():
+      gc.enable()
+      gc.collect()
+
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
 @pytest.fixture(scope="class", autouse=True)
 def openpilot_class_fixture():
-  starting_env = dict(os.environ)
-
+  with clean_env():
     yield
 
-  os.environ.clear()
-  os.environ.update(starting_env)
-
 
-@pytest.fixture(scope="class")
-def tici_setup_fixture():
-  """Ensure a consistent state for tests on-device"""
+@pytest.fixture(scope="function")
+def tici_setup_fixture(openpilot_function_fixture):
+  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
   HARDWARE.initialize_hardware()
   HARDWARE.set_power_save(False)
   os.system("pkill -9 -f athena")
-  os.system("rm /dev/shm/*")
 
 
 @pytest.hookimpl(tryfirst=True)

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.
 
-# 276 Supported Cars
+# 288 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,6 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 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=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
 |Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 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=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -33,13 +34,22 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
 |Ford|Maverick 2023|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 2023">Buy Here</a></sub></details>||
+|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|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">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|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">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>||
@@ -72,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 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=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|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=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -162,6 +172,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|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=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|LC 2024|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=Lexus&model=LC 2024">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
@@ -174,7 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
@@ -213,9 +225,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|Avalon Hybrid 2022|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=Avalon Hybrid 2022">Buy Here</a></sub></details>||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|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 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=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|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=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -241,13 +253,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

launch_chffrplus.sh

@@ -15,6 +15,11 @@ function agnos_init {
   # set success flag for current boot slot
   sudo abctl --set_success
 
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.3"
+  export AGNOS_VERSION="9.7"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

opendbc

@@ -1 +1 @@
-Subproject commit 7397e466d9cfd7f5bc1f49218b8d2afeedec582b
+Subproject commit 951ab07fdcbce023a5c927f56bbf94e0f2322366

openpilot/__init__.py

@@ -1,3 +0,0 @@
-
-
-

panda

@@ -1 +1 @@
-Subproject commit f48fc21a17079bc04cfb3d8042fd2d67d0aac104
+Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28

poetry.lock

@@ -825,43 +825,43 @@ files = [
 
 [[package]]
 name = "cryptography"
-version = "42.0.2"
+version = "42.0.3"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "cryptography-42.0.3.tar.gz", hash = "sha256:069d2ce9be5526a44093a0991c450fe9906cdf069e0e7cd67d9dee49a62b9ebe"},
 ]
 
 [package.dependencies]
@@ -989,22 +989,22 @@ files = [
 
 [[package]]
 name = "dnspython"
-version = "2.5.0"
+version = "2.6.1"
 description = "DNS toolkit"
 optional = false
 python-versions = ">=3.8"
 files = [
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 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
 repacker = ["uharfbuzz (>=0.23.0)"]
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 [[package]]
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 description = "File identification library for Python"
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 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -2194,13 +2194,13 @@ files = [
 
 [[package]]
 name = "metadrive-simulator"
-version = "0.4.2.2"
+version = "0.4.2.3"
 description = "An open-ended driving simulator with infinite scenes"
 optional = false
 python-versions = ">=3.6, <3.12"
 files = [
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 [package.dependencies]
@@ -3041,17 +3041,17 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "polyline"
-version = "2.0.1"
+version = "2.0.2"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.extras]
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 publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
 
 [[package]]
@@ -3085,13 +3085,13 @@ files = [
 
 [[package]]
 name = "pre-commit"
-version = "3.6.0"
+version = "3.6.2"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
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 ]
 
 [package.dependencies]
@@ -3113,22 +3113,22 @@ files = [
 
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 python-versions = ">=3.8"
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 [[package]]
@@ -6468,13 +6468,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
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-version = "8.0.0"
+version = "8.0.1"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
@@ -6639,12 +6639,12 @@ numpy = ["numpy (>=1.6.0)"]
 
 [[package]]
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+version = "1.1.0"
 description = "A collection of tweening / easing functions."
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 [[package]]
 name = "ruff"
-version = "0.2.0"
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 [[package]]
@@ -7027,13 +7027,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.40.0"
+version = "1.40.5"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -7172,72 +7172,72 @@ test = ["pytest"]
 
 [[package]]
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-version = "69.0.3"
+version = "69.1.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
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 python-versions = ">=3.8"
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 [package.extras]
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 [[package]]
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-[package.dependencies]
-numpy = ">=1.14"
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+    {file = "shapely-2.0.3.tar.gz", hash = "sha256:4d65d0aa7910af71efa72fd6447e02a8e5dd44da81a983de9d736d6e6ccbe674"},
+]
+
+[package.dependencies]
+numpy = ">=1.14,<2"
 
 [package.extras]
 docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
@@ -7574,13 +7574,13 @@ files = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.1"
+version = "4.66.2"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.1-py3-none-any.whl", hash = "sha256:d302b3c5b53d47bce91fea46679d9c3c6508cf6332229aa1e7d8653723793386"},
-    {file = "tqdm-4.66.1.tar.gz", hash = "sha256:d88e651f9db8d8551a62556d3cff9e3034274ca5d66e93197cf2490e2dcb69c7"},
+    {file = "tqdm-4.66.2-py3-none-any.whl", hash = "sha256:1ee4f8a893eb9bef51c6e35730cebf234d5d0b6bd112b0271e10ed7c24a02bd9"},
+    {file = "tqdm-4.66.2.tar.gz", hash = "sha256:6cd52cdf0fef0e0f543299cfc96fec90d7b8a7e88745f411ec33eb44d5ed3531"},
 ]
 
 [package.dependencies]
@@ -7594,13 +7594,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.20240125"
+version = "2.31.0.20240218"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.20240125.tar.gz", hash = "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5"},
-    {file = "types_requests-2.31.0.20240125-py3-none-any.whl", hash = "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"},
+    {file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"},
+    {file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"},
 ]
 
 [package.dependencies]
@@ -7630,24 +7630,24 @@ files = [
 
 [[package]]
 name = "tzdata"
-version = "2023.4"
+version = "2024.1"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2023.4-py2.py3-none-any.whl", hash = "sha256:aa3ace4329eeacda5b7beb7ea08ece826c28d761cda36e747cfbf97996d39bf3"},
-    {file = "tzdata-2023.4.tar.gz", hash = "sha256:dd54c94f294765522c77399649b4fefd95522479a664a0cec87f41bebc6148c9"},
+    {file = "tzdata-2024.1-py2.py3-none-any.whl", hash = "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"},
+    {file = "tzdata-2024.1.tar.gz", hash = "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd"},
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.2.0"
+version = "2.2.1"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.2.0-py3-none-any.whl", hash = "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"},
-    {file = "urllib3-2.2.0.tar.gz", hash = "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20"},
+    {file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
+    {file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
 ]
 
 [package.extras]
@@ -7829,4 +7829,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "8af315a175ab43dbc5a777f68fca6d76af1443b5b574ab8570ef5dad59f288fc"
+content-hash = "cb63112bfe7ee2b3fc194a422479f788c9a8027d445ea51a31f4ee20299beb53"

pyproject.toml

@@ -126,7 +126,7 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -167,8 +167,8 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
+lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
+lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
@@ -180,8 +180,8 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-flake8-implicit-str-concat.allow-multiline=false
-[tool.ruff.flake8-tidy-imports.banned-api]
+lint.flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"

selfdrive/athena/athenad.py

@@ -19,7 +19,8 @@ from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
 from queue import Queue
-from typing import Callable, Dict, List, Optional, Set, Union, cast
+from typing import cast
+from collections.abc import Callable
 
 import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
@@ -55,17 +56,17 @@ WS_FRAME_SIZE = 4096
 
 NetworkType = log.DeviceState.NetworkType
 
-UploadFileDict = Dict[str, Union[str, int, float, bool]]
-UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
+UploadFileDict = dict[str, str | int | float | bool]
+UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
 
-UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
+UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]
 
 
 @dataclass
 class UploadFile:
   fn: str
   url: str
-  headers: Dict[str, str]
+  headers: dict[str, str]
   allow_cellular: bool
 
   @classmethod
@@ -77,9 +78,9 @@ class UploadFile:
 class UploadItem:
   path: str
   url: str
-  headers: Dict[str, str]
+  headers: dict[str, str]
   created_at: int
-  id: Optional[str]
+  id: str | None
   retry_count: int = 0
   current: bool = False
   progress: float = 0
@@ -97,9 +98,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: Set[str] = set()
+cancelled_uploads: set[str] = set()
 
-cur_upload_items: Dict[int, Optional[UploadItem]] = {}
+cur_upload_items: dict[int, UploadItem | None] = {}
 
 
 def strip_bz2_extension(fn: str) -> str:
@@ -127,14 +128,14 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      queue: List[Optional[UploadItem]] = list(upload_queue.queue)
+      queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
 
-def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
+def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   end_event = threading.Event()
 
   threads = [
@@ -206,13 +207,17 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
-def cb(sm, item, tid, sz: int, cur: int) -> None:
+def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   # Abort transfer if connection changed to metered after starting upload
+  # or if athenad is shutting down to re-connect the websocket
   sm.update(0)
   metered = sm['deviceState'].networkMetered
   if metered and (not item.allow_cellular):
     raise AbortTransferException
 
+  if end_event.is_set():
+    raise AbortTransferException
+
   cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
@@ -252,7 +257,7 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, partial(cb, sm, item, tid))
+        response = _do_upload(item, partial(cb, sm, item, tid, end_event))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -274,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -313,7 +318,7 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
 
 
 @dispatcher.add_method
-def getVersion() -> Dict[str, str]:
+def getVersion() -> dict[str, str]:
   return {
     "version": get_version(),
     "remote": get_normalized_origin(),
@@ -323,7 +328,7 @@ def getVersion() -> Dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]:
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -335,7 +340,7 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optiona
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str) -> List[str]:
+def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
@@ -355,12 +360,12 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   return files
 
 @dispatcher.add_method
-def listDataDirectory(prefix='') -> List[str]:
+def listDataDirectory(prefix='') -> list[str]:
   return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
-def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
+def uploadFileToUrl(fn: str, url: str, headers: dict[str, str]) -> UploadFilesToUrlResponse:
   # this is because mypy doesn't understand that the decorator doesn't change the return type
   response: UploadFilesToUrlResponse = uploadFilesToUrls([{
     "fn": fn,
@@ -371,11 +376,11 @@ def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesTo
 
 
 @dispatcher.add_method
-def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
+def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlResponse:
   files = map(UploadFile.from_dict, files_data)
 
-  items: List[UploadItemDict] = []
-  failed: List[str] = []
+  items: list[UploadItemDict] = []
+  failed: list[str] = []
   for file in files:
     if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
       failed.append(file.fn)
@@ -414,13 +419,13 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
 
 
 @dispatcher.add_method
-def listUploadQueue() -> List[UploadItemDict]:
+def listUploadQueue() -> list[UploadItemDict]:
   items = list(upload_queue.queue) + list(cur_upload_items.values())
   return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
 
 
 @dispatcher.add_method
-def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
+def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
@@ -433,7 +438,7 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]
   return {"success": 1}
 
 @dispatcher.add_method
-def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
+def setRouteViewed(route: str) -> dict[str, int | str]:
   # maintain a list of the last 10 routes viewed in connect
   params = Params()
 
@@ -448,7 +453,7 @@ def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
   return {"success": 1}
 
 
-def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   try:
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
@@ -482,7 +487,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
 
 
 @dispatcher.add_method
-def getPublicKey() -> Optional[str]:
+def getPublicKey() -> str | None:
   if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
     return None
 
@@ -522,7 +527,7 @@ def getNetworks():
 
 
 @dispatcher.add_method
-def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
+def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
@@ -539,7 +544,7 @@ def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
     raise Exception("not available while camerad is started")
 
 
-def get_logs_to_send_sorted() -> List[str]:
+def get_logs_to_send_sorted() -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
@@ -746,6 +751,9 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
       onroad_prev = onroad
 
       if sock is not None:
+        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+        #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
+        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
@@ -759,7 +767,7 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: Optional[threading.Event] = None):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:

selfdrive/athena/registration.py

@@ -3,7 +3,6 @@ import time
 import json
 import jwt
 from pathlib import Path
-from typing import Optional
 
 from datetime import datetime, timedelta
 from openpilot.common.api import api_get
@@ -23,12 +22,12 @@ def is_registered_device() -> bool:
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
-def register(show_spinner=False) -> Optional[str]:
+def register(show_spinner=False) -> str | None:
   params = Params()
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')
-  dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
+  dongle_id: str | None = params.get("DongleId", encoding='utf8')
   needs_registration = None in (IMEI, HardwareSerial, dongle_id)
 
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
@@ -48,8 +47,8 @@ def register(show_spinner=False) -> Optional[str]:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1: Optional[str] = None
-    imei2: Optional[str] = None
+    imei1: str | None = None
+    imei2: str | None = None
     while imei1 is None and imei2 is None:
       try:
         imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)

selfdrive/athena/tests/test_athenad.py

@@ -12,7 +12,6 @@ import unittest
 from dataclasses import asdict, replace
 from datetime import datetime, timedelta
 from parameterized import parameterized
-from typing import Optional
 
 from unittest import mock
 from websocket import ABNF
@@ -97,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase):
         break
 
   @staticmethod
-  def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:
@@ -233,6 +232,7 @@ class TestAthenadMethods(unittest.TestCase):
     time.sleep(0.1)
 
     # TODO: verify that upload actually succeeded
+    # TODO: also check that end_event and metered network raises AbortTransferException
     self.assertEqual(athenad.upload_queue.qsize(), 0)
 
   @parameterized.expand([(500, True), (412, False)])

selfdrive/athena/tests/test_athenad_ping.py

@@ -3,7 +3,7 @@ import subprocess
 import threading
 import time
 import unittest
-from typing import cast, Optional
+from typing import cast
 from unittest import mock
 
 from openpilot.common.params import Params
@@ -12,6 +12,8 @@ from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.manager.helpers import write_onroad_params
 from openpilot.system.hardware import TICI
 
+TIMEOUT_TOLERANCE = 20  # seconds
+
 
 def wifi_radio(on: bool) -> None:
   if not TICI:
@@ -27,8 +29,8 @@ class TestAthenadPing(unittest.TestCase):
   athenad: threading.Thread
   exit_event: threading.Event
 
-  def _get_ping_time(self) -> Optional[str]:
-    return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
+  def _get_ping_time(self) -> str | None:
+    return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8"))
 
   def _clear_ping_time(self) -> None:
     self.params.remove("LastAthenaPingTime")
@@ -55,7 +57,7 @@ class TestAthenadPing(unittest.TestCase):
       self.exit_event.set()
       self.athenad.join()
 
-  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True)
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection))
   def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
@@ -63,7 +65,7 @@ class TestAthenadPing(unittest.TestCase):
     mock_create_connection.assert_called_once()
     mock_create_connection.reset_mock()
 
-    # check normal behaviour
+    # check normal behaviour, server pings on connection
     with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
@@ -92,12 +94,12 @@ class TestAthenadPing(unittest.TestCase):
   @unittest.skipIf(not TICI, "only run on desk")
   def test_offroad(self) -> None:
     write_onroad_params(False, self.params)
-    self.assertTimeout(100)  # expect approx 90s
+    self.assertTimeout(60 + TIMEOUT_TOLERANCE)  # based using TCP keepalive settings
 
   @unittest.skipIf(not TICI, "only run on desk")
   def test_onroad(self) -> None:
     write_onroad_params(True, self.params)
-    self.assertTimeout(30)  # expect 20-30s
+    self.assertTimeout(21 + TIMEOUT_TOLERANCE)
 
 
 if __name__ == "__main__":

selfdrive/boardd/boardd.cc

@@ -362,11 +362,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
     ps.setAlternativeExperience(health.alternative_experience_pkt);
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-    ps.setInterruptLoad(health.interrupt_load);
+    ps.setInterruptLoad(health.interrupt_load_pkt);
     ps.setFanPower(health.fan_power);
     ps.setFanStallCount(health.fan_stall_count);
-    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
-    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
     ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
     ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 

selfdrive/boardd/pandad.py

@@ -4,7 +4,7 @@ import os
 import usb1
 import time
 import subprocess
-from typing import List, NoReturn
+from typing import NoReturn
 from functools import cmp_to_key
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
@@ -93,6 +93,11 @@ def main() -> NoReturn:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 25.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
@@ -119,7 +124,7 @@ def main() -> NoReturn:
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
       # Flash pandas
-      pandas: List[Panda] = []
+      pandas: list[Panda] = []
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -32,7 +32,7 @@ class TestBoardd(unittest.TestCase):
 
     with Timeout(90, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+      while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
           any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
         sm.update(1000)
 

selfdrive/car/__init__.py

@@ -1,11 +1,13 @@
 # functions common among cars
 from collections import namedtuple
-from typing import Dict, List, Optional
+from dataclasses import dataclass
+from enum import ReprEnum
 
 import capnp
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -24,9 +26,9 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   return val_steady
 
 
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
-                         unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]:
-  events: List[capnp.lib.capnp._DynamicStructBuilder] = []
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
+                         unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+  events: list[capnp.lib.capnp._DynamicStructBuilder] = []
 
   if cur_btn == prev_btn:
     return events
@@ -73,7 +75,10 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]:
+DbcDict = dict[str, str]
+
+
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
@@ -208,7 +213,7 @@ def get_safety_config(safety_model, safety_param = None):
 class CanBusBase:
   offset: int
 
-  def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
+  def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
     if CP is None:
       assert fingerprint is not None
       num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
@@ -236,3 +241,43 @@ class CanSignalRateCalculator:
     self.previous_value = current_value
 
     return self.rate
+
+
+CarInfos = CarInfo | list[CarInfo]
+
+
+@dataclass
+class CarSpecs:
+  mass: float
+  wheelbase: float
+  steerRatio: float
+
+
+@dataclass(order=True)
+class PlatformConfig:
+  platform_str: str
+  car_info: CarInfos
+  dbc_dict: DbcDict
+
+  specs: CarSpecs | None = None
+
+  def __hash__(self) -> int:
+    return hash(self.platform_str)
+
+
+class Platforms(str, ReprEnum):
+  config: PlatformConfig
+
+  def __new__(cls, platform_config: PlatformConfig):
+    member = str.__new__(cls, platform_config.platform_str)
+    member.config = platform_config
+    member._value_ = platform_config.platform_str
+    return member
+
+  @classmethod
+  def create_dbc_map(cls) -> dict[str, DbcDict]:
+    return {p: p.config.dbc_dict for p in cls}
+
+  @classmethod
+  def create_carinfo_map(cls) -> dict[str, CarInfos]:
+    return {p: p.config.car_info for p in cls}

selfdrive/car/body/values.py

@@ -1,8 +1,5 @@
-from enum import StrEnum
-from typing import Dict
-
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -22,13 +19,12 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  BODY = "COMMA BODY"
-
-
-CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All"),
-}
+class CAR(Platforms):
+  BODY = PlatformConfig(
+    "COMMA BODY",
+    CarInfo("comma body", package="All"),
+    dbc_dict('comma_body', None),
+  )
 
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -41,7 +37,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
-DBC = {
-  CAR.BODY: dbc_dict('comma_body', None),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()

selfdrive/car/car_helpers.py

@@ -1,6 +1,6 @@
 import os
 import time
-from typing import Callable, Dict, List, Optional, Tuple
+from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
@@ -63,7 +63,7 @@ def load_interfaces(brand_names):
   return ret
 
 
-def _get_interface_names() -> Dict[str, List[str]]:
+def _get_interface_names() -> dict[str, list[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
   for brand_name, brand_models in get_interface_attr("CAR").items():
@@ -77,7 +77,7 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> Tuple[Optional[str], Dict[int, dict]]:
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
@@ -141,9 +141,10 @@ def fingerprint(logcan, sendcan, num_pandas):
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
+      # enable OBD multiplexing for VIN query
+      # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
       set_obd_multiplexing(params, True)
-      # Vin query only reliably works through OBDII
+      # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
@@ -161,7 +162,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   cloudlog.warning("VIN %s", vin)
   params.put("CarVin", vin)
 
-  # disable OBD multiplexing for potential ECU knockouts
+  # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(params, False)
   params.put_bool("FirmwareQueryDone", True)
 

selfdrive/car/chrysler/fingerprints.py

@@ -67,6 +67,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'68267018AO ',
       b'68267020AJ ',
+      b'68303534AJ ',
       b'68340762AD ',
       b'68340764AD ',
       b'68352652AE ',
@@ -299,6 +300,7 @@ FW_VERSIONS = {
   CAR.JEEP_GRAND_CHEROKEE_2019: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68402703AB',
+      b'68402704AB',
       b'68402708AB',
       b'68402971AD',
       b'68454144AD',
@@ -326,6 +328,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x75a, None): [
       b'68417279AA',
       b'68417280AA',
+      b'68417281AA',
       b'68453431AA',
       b'68453433AA',
       b'68453435AA',
@@ -336,6 +339,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
       b'68412635AG ',
+      b'68412660AD ',
       b'68422860AB',
       b'68449435AE ',
       b'68496223AA ',
@@ -346,6 +350,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'05035707AA',
       b'68419672AC',
+      b'68419678AB',
       b'68423905AB',
       b'68449258AC',
       b'68495807AA',
@@ -396,6 +401,7 @@ FW_VERSIONS = {
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68546047AF',
       b'68631938AA',
       b'68631942AA',
     ],
@@ -475,6 +481,7 @@ FW_VERSIONS = {
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
+      b'05149599AE ',
       b'05149600AD ',
       b'05149605AE ',
       b'05149846AA ',
@@ -606,4 +613,34 @@ FW_VERSIONS = {
       b'M2421132MB',
     ],
   },
+  CAR.DODGE_DURANGO: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68454261AD',
+      b'68471535AE',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355362AB',
+      b'68492238AD',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AD',
+      b'68499978AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68440581AE',
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68453435AA',
+      b'68498477AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035786AE ',
+      b'68449476AE ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035826AC',
+      b'68449265AC',
+    ],
+  },
 }

selfdrive/car/chrysler/interface.py

@@ -28,13 +28,13 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019)
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.mass = 2242.
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
@@ -80,6 +80,7 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
       # TODO: allow these cars to steer down to 13 m/s if already engaged.
+      # TODO: Durango 2020 may be able to steer to zero once above 38 kph
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
     ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/chrysler/values.py

@@ -1,6 +1,5 @@
 from enum import IntFlag, StrEnum
 from dataclasses import dataclass, field
-from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
@@ -23,6 +22,9 @@ class CAR(StrEnum):
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
+  # Dodge
+  DODGE_DURANGO = "DODGE DURANGO 2021"
+
   # Jeep
   JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
@@ -63,7 +65,7 @@ class ChryslerCarInfo(CarInfo):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
 
-CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
+CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
   CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
@@ -74,6 +76,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
@@ -128,6 +131,7 @@ DBC = {
   CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),

selfdrive/car/docs.py

@@ -5,7 +5,6 @@ import jinja2
 import os
 from enum import Enum
 from natsort import natsorted
-from typing import Dict, List
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
@@ -14,7 +13,7 @@ from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFoot
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 
 
-def get_all_footnotes() -> Dict[Enum, int]:
+def get_all_footnotes() -> dict[Enum, int]:
   all_footnotes = list(CommonFootnote)
   for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
     all_footnotes.extend(footnotes)
@@ -25,8 +24,8 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> List[CarInfo]:
-  all_car_info: List[CarInfo] = []
+def get_all_car_info() -> list[CarInfo]:
+  all_car_info: list[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # If available, uses experimental longitudinal limits for the docs
@@ -47,19 +46,19 @@ def get_all_car_info() -> List[CarInfo]:
       all_car_info.append(_car_info)
 
   # Sort cars by make and model + year
-  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
+  sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
+def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
   sorted_car_info = defaultdict(list)
   for car_info in all_car_info:
     sorted_car_info[car_info.make].append(car_info)
   return dict(sorted_car_info)
 
 
-def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
-  with open(template_fn, "r") as f:
+def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
+  with open(template_fn) as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in get_all_footnotes()]

selfdrive/car/docs_definitions.py

@@ -3,7 +3,6 @@ from collections import namedtuple
 import copy
 from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -35,7 +34,7 @@ class Star(Enum):
 @dataclass
 class BasePart:
   name: str
-  parts: List[Enum] = field(default_factory=list)
+  parts: list[Enum] = field(default_factory=list)
 
   def all_parts(self):
     # Recursively get all parts
@@ -76,7 +75,7 @@ class Accessory(EnumBase):
 
 @dataclass
 class BaseCarHarness(BasePart):
-  parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
+  parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
   has_connector: bool = True  # without are hidden on the harness connector page
 
 
@@ -149,18 +148,18 @@ class PartType(Enum):
   tool = Tool
 
 
-DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex]
+DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
 
 
 @dataclass
 class CarParts:
-  parts: List[EnumBase] = field(default_factory=list)
+  parts: list[EnumBase] = field(default_factory=list)
 
   def __call__(self):
     return copy.deepcopy(self)
 
   @classmethod
-  def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
+  def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
     p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
     return cls(p)
 
@@ -186,7 +185,7 @@ class CommonFootnote(Enum):
     Column.LONGITUDINAL)
 
 
-def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
+def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
   # Returns applicable footnotes given current column
   return [fn for fn in footnotes if fn.value.column == column]
 
@@ -209,7 +208,7 @@ def get_year_list(years):
   return years_list
 
 
-def split_name(name: str) -> Tuple[str, str, str]:
+def split_name(name: str) -> tuple[str, str, str]:
   make, model = name.split(" ", 1)
   years = ""
   match = re.search(MODEL_YEARS_RE, model)
@@ -233,13 +232,13 @@ class CarInfo:
 
   # the minimum compatibility requirements for this model, regardless
   # of market. can be a package, trim, or list of features
-  requirements: Optional[str] = None
+  requirements: str | None = None
 
-  video_link: Optional[str] = None
-  footnotes: List[Enum] = field(default_factory=list)
-  min_steer_speed: Optional[float] = None
-  min_enable_speed: Optional[float] = None
-  auto_resume: Optional[bool] = None
+  video_link: str | None = None
+  footnotes: list[Enum] = field(default_factory=list)
+  min_steer_speed: float | None = None
+  min_enable_speed: float | None = None
+  auto_resume: bool | None = None
 
   # all the parts needed for the supported car
   car_parts: CarParts = field(default_factory=CarParts)
@@ -248,7 +247,7 @@ class CarInfo:
     self.make, self.model, self.years = split_name(self.name)
     self.year_list = get_year_list(self.years)
 
-  def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
+  def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
 
@@ -293,7 +292,7 @@ class CarInfo:
       if len(tools_docs):
         hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
 
-    self.row: Dict[Enum, Union[str, Star]] = {
+    self.row: dict[Enum, str | Star] = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
@@ -352,7 +351,7 @@ class CarInfo:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
 
   def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
-    item: Union[str, Star] = self.row[column]
+    item: str | Star = self.row[column]
     if isinstance(item, Star):
       item = star_icon.format(item.value)
     elif column == Column.MODEL and len(self.years):

selfdrive/car/ecu_addrs.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import capnp
 import time
-from typing import Optional, Set
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
@@ -20,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
   return make_can_msg(addr, bytes(dat), bus)
 
 
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool:
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0
@@ -34,16 +33,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   return False
 
 
-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
+  queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
   return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
 
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
-                  responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
-  ecu_responses: Set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
+                  responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
+  ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 

selfdrive/car/ford/carstate.py

@@ -18,17 +18,10 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
-    self.unsupported_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
-    # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
-    # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
-    self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
-                                 self.CP.carFingerprint not in CANFD_CAR)
-
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
     self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
@@ -54,7 +47,7 @@ class CarState(CarStateBase):
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
-    # ret.espDisabled = False  # TODO: find traction control signal
+    ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
 
     if self.CP.carFingerprint in CANFD_CAR:
       # this signal is always 0 on non-CAN FD cars

selfdrive/car/ford/interface.py

@@ -109,8 +109,6 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
-    if self.CS.unsupported_platform:
-      events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()
 

selfdrive/car/ford/tests/test_ford.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 from parameterized import parameterized
-from typing import Dict, Iterable, Optional, Tuple
+from collections.abc import Iterable
 
 import capnp
 
@@ -50,7 +50,7 @@ class TestFordFW(unittest.TestCase):
       self.assertIsNone(subaddr, "Unexpected ECU subaddress")
 
   @parameterized.expand(FW_VERSIONS.items())
-  def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
+  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
       self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
       self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")

selfdrive/car/ford/values.py

@@ -1,7 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum, StrEnum
-from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
@@ -59,7 +58,7 @@ class RADAR:
   DELPHI_MRR = 'FORD_CADS'
 
 
-DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
+DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
 # F-150 radar is not yet supported
 DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
@@ -87,23 +86,37 @@ class FordCarInfo(CarInfo):
       self.car_parts = CarParts([Device.threex, harness])
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
   CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020-22"),
+    FordCarInfo("Ford Escape Hybrid 2020-22"),
+    FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
     FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
+    FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
   ],
   CAR.EXPLORER_MK6: [
     FordCarInfo("Ford Explorer 2020-23"),
-    FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
+    FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
+    FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
+    FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
+  ],
+  CAR.F_150_MK14: [
+    FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+    FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
   ],
-  CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
   CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
   CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
+  CAR.FOCUS_MK4: [
+    FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
+    FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
+  ],
   CAR.MAVERICK_MK1: [
     FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
+    FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
     FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
+    FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
   ],
 }
 
@@ -111,6 +124,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      logging=True,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],

selfdrive/car/fw_query_definitions.py

@@ -3,19 +3,21 @@ import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
-from typing import Callable, Dict, List, Optional, Set, Tuple
+from collections.abc import Callable
 
 import panda.python.uds as uds
 
-AddrType = Tuple[int, Optional[int]]
-EcuAddrBusType = Tuple[int, Optional[int], int]
-EcuAddrSubAddr = Tuple[int, int, Optional[int]]
+AddrType = tuple[int, int | None]
+EcuAddrBusType = tuple[int, int | None, int]
+EcuAddrSubAddr = tuple[int, int, int | None]
 
-LiveFwVersions = Dict[AddrType, Set[bytes]]
-OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
+LiveFwVersions = dict[AddrType, set[bytes]]
+OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
 
 # A global list of addresses we will only ever consider for VIN responses
-STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x18da10f1, 0x18da0ef1]  # engine, hybrid controller, Ford abs, 29-bit engine, PGM-FI
+# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
+# TODO: move these to each brand's FW query config
+STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
 
 
 def p16(val):
@@ -63,12 +65,15 @@ class StdQueries:
   GM_VIN_REQUEST = b'\x1a\x90'
   GM_VIN_RESPONSE = b'\x5a\x90'
 
+  KWP_VIN_REQUEST = b'\x21\x81'
+  KWP_VIN_RESPONSE = b'\x61\x81'
+
 
 @dataclass
 class Request:
-  request: List[bytes]
-  response: List[bytes]
-  whitelist_ecus: List[int] = field(default_factory=list)
+  request: list[bytes]
+  response: list[bytes]
+  whitelist_ecus: list[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
   # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
@@ -81,15 +86,15 @@ class Request:
 
 @dataclass
 class FwQueryConfig:
-  requests: List[Request]
+  requests: list[Request]
   # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
-  non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
+  non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
-  extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
   # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
   # returns set of candidates. Only will match if one candidate is returned
-  match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None
+  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
 
   def __post_init__(self):
     for i in range(len(self.requests)):

selfdrive/car/fw_versions.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, DefaultDict, Dict, List, Optional, Set
+from typing import Any, TypeVar
+from collections.abc import Iterator
 from tqdm import tqdm
 import capnp
 
@@ -24,20 +25,22 @@ VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
 REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 
+T = TypeVar('T')
 
-def chunks(l, n=128):
+
+def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
   for i in range(0, len(l), n):
     yield l[i:i + n]
 
 
-def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
+def is_brand(brand: str, filter_brand: str | None) -> bool:
   """Returns if brand matches filter_brand or no brand filter is specified"""
   return filter_brand is None or brand == filter_brand
 
 
-def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
-                  filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]:
-  fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set)
+def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
+                  filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
+  fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
@@ -95,7 +98,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -162,11 +165,11 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
   params = Params()
   # queries are split by OBD multiplexing mode
-  queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []}
-  parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
+  queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
+  parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
   responses = set()
 
   for brand, config, r in REQUESTS:
@@ -201,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
   return ecu_responses
 
 
-def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
+def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
   brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for
@@ -229,7 +232,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
 
 
 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
-  List[capnp.lib.capnp._DynamicStructBuilder]:
+  list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -252,7 +255,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
 
 
 def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
-  List[capnp.lib.capnp._DynamicStructBuilder]:
+  list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
   params = Params()
 

selfdrive/car/gm/fingerprints.py

@@ -2,6 +2,7 @@
 from openpilot.selfdrive.car.gm.values import CAR
 
 # Trailblazer also matches as a SILVERADO, TODO: split with fw versions
+# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
 
 
 FINGERPRINTS = {
@@ -52,6 +53,9 @@ FINGERPRINTS = {
   }],
   CAR.EQUINOX: [{
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  },
+  {
+    190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
   }],
 }
 

selfdrive/car/gm/interface.py

@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.

selfdrive/car/gm/values.py

@@ -1,7 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum, StrEnum
-from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict
@@ -98,7 +97,7 @@ class GMCarInfo(CarInfo):
       self.footnotes.append(Footnote.OBD_II)
 
 
-CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
+CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = {
   CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
   CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
@@ -181,7 +180,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 

selfdrive/car/honda/carstate.py

@@ -7,8 +7,8 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \
-                                                 HONDA_BOSCH_RADARLESS
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
+                                                 HondaFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -44,7 +44,7 @@ def get_can_messages(CP, gearbox_msg):
   else:
     messages.append((gearbox_msg, 100))
 
-  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+  if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
   if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
@@ -217,7 +217,7 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when

selfdrive/car/honda/fingerprints.py

@@ -101,10 +101,6 @@ FW_VERSIONS = {
       b'39990-TVA-X040\x00\x00',
       b'39990-TVE-H130\x00\x00',
     ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A020\x00\x00',
-      b'39390-TVA-A120\x00\x00',
-    ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBX-H230\x00\x00',
       b'77959-TVA-A460\x00\x00',
@@ -299,6 +295,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A030\x00\x00',
       b'77959-TBA-A040\x00\x00',
+      b'77959-TBG-A020\x00\x00',
       b'77959-TBG-A030\x00\x00',
       b'77959-TEA-Q820\x00\x00',
     ],
@@ -680,6 +677,7 @@ FW_VERSIONS = {
       b'36802-TLA-A040\x00\x00',
       b'36802-TLA-A050\x00\x00',
       b'36802-TLA-A060\x00\x00',
+      b'36802-TLA-A070\x00\x00',
       b'36802-TMC-Q040\x00\x00',
       b'36802-TMC-Q070\x00\x00',
       b'36802-TNY-A030\x00\x00',
@@ -834,6 +832,7 @@ FW_VERSIONS = {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5MR-3050\x00\x00',
       b'37805-5MR-3250\x00\x00',
+      b'37805-5MR-4070\x00\x00',
       b'37805-5MR-4080\x00\x00',
       b'37805-5MR-4180\x00\x00',
       b'37805-5MR-A240\x00\x00',
@@ -879,6 +878,7 @@ FW_VERSIONS = {
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',
       b'28102-5MX-K610\x00\x00',
@@ -916,6 +916,7 @@ FW_VERSIONS = {
       b'78109-THR-C320\x00\x00',
       b'78109-THR-C330\x00\x00',
       b'78109-THR-CE20\x00\x00',
+      b'78109-THR-CL10\x00\x00',
       b'78109-THR-DA20\x00\x00',
       b'78109-THR-DA30\x00\x00',
       b'78109-THR-DA40\x00\x00',
@@ -1206,6 +1207,7 @@ FW_VERSIONS = {
       b'39990-T6Z-A020\x00\x00',
       b'39990-T6Z-A030\x00\x00',
       b'39990-T6Z-A050\x00\x00',
+      b'39990-T6Z-A110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T6Z-A020\x00\x00',
@@ -1213,6 +1215,7 @@ FW_VERSIONS = {
       b'36161-T6Z-A420\x00\x00',
       b'36161-T6Z-A520\x00\x00',
       b'36161-T6Z-A620\x00\x00',
+      b'36161-T6Z-A720\x00\x00',
       b'36161-TJZ-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
@@ -1220,6 +1223,7 @@ FW_VERSIONS = {
       b'38897-T6Z-A110\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78108-T6Z-AF10\x00\x00',
       b'78109-T6Z-A420\x00\x00',
       b'78109-T6Z-A510\x00\x00',
       b'78109-T6Z-A710\x00\x00',
@@ -1237,6 +1241,7 @@ FW_VERSIONS = {
       b'57114-T6Z-A120\x00\x00',
       b'57114-T6Z-A130\x00\x00',
       b'57114-T6Z-A520\x00\x00',
+      b'57114-T6Z-A610\x00\x00',
       b'57114-TJZ-A520\x00\x00',
     ],
   },

selfdrive/car/honda/interface.py

@@ -3,8 +3,9 @@ from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+                                                 HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -275,7 +276,8 @@ class CarInterface(CarInterfaceBase):
       raise ValueError(f"unsupported car {candidate}")
 
     # These cars use alternate user brake msg (0x1BE)
-    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
+      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)

selfdrive/car/honda/values.py

@@ -1,6 +1,5 @@
 from dataclasses import dataclass
 from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Optional, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -49,6 +48,7 @@ class CarControllerParams:
 class HondaFlags(IntFlag):
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
+  BOSCH_ALT_BRAKE = 2
 
 
 # Car button codes
@@ -115,7 +115,7 @@ class HondaCarInfo(CarInfo):
       self.car_parts = CarParts.common([CarHarness.nidec])
 
 
-CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
+CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
   CAR.ACCORD: [
     HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@@ -149,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }
@@ -195,10 +195,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=1,
-      logging=True,
       obd_multiplexing=False,
     ),
   ],
+  # 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.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+  },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
     (Ecu.unknown, 0x18DAB3F1, None),
@@ -243,5 +252,4 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_E
                                 CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
                CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

selfdrive/car/hyundai/fingerprints.py

@@ -973,6 +973,7 @@ FW_VERSIONS = {
       b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+      b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101',
       b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -989,11 +990,13 @@ FW_VERSIONS = {
       b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
+      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x90@\xc6\xae',
       b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
       b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
     ],
@@ -1546,6 +1549,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
@@ -1566,6 +1570,7 @@ FW_VERSIONS = {
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
@@ -1578,6 +1583,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
+      b'\xf1\x00NX4__               1.00 1.02 99110-N9000         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
@@ -1636,6 +1642,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.00 99110-R5000         ',
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],

selfdrive/car/hyundai/interface.py

@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
-SafetyModel = car.CarParams.SafetyModel
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -19,17 +18,6 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
-def set_safety_config_hyundai(candidate, CAN, can_fd=False):
-  platform = SafetyModel.hyundaiCanfd if can_fd else \
-             SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
-             SafetyModel.hyundai
-  cfgs = [get_safety_config(platform), ]
-  if CAN.ECAN >= 4:
-    cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
-
-  return cfgs
-
-
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -54,6 +42,7 @@ class CarInterface(CarInterfaceBase):
 
       # detect HDA2 with ADAS Driving ECU
       if hda2:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
@@ -303,20 +292,30 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[0]
 
     # *** panda safety config ***
-    ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
+    if candidate in CANFD_CAR:
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      if CAN.ECAN >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs
 
-    if hda2:
-      ret.flags |= HyundaiFlags.CANFD_HDA2.value
+      if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-
-    if candidate in CANFD_CAR:
-      if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
           ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
-
-    if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
+      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+    else:
+      if candidate in LEGACY_SAFETY_MODE_CAR:
+        # these cars require a special panda safety mode due to missing counters and checksums in the messages
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      else:
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+
+      if candidate in CAMERA_SCC_CAR:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:

selfdrive/car/hyundai/values.py

@@ -1,7 +1,6 @@
 import re
 from dataclasses import dataclass
 from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
 from panda.python import uds
@@ -157,7 +156,7 @@ class HyundaiCarInfo(CarInfo):
       self.footnotes.insert(0, Footnote.CANFD)
 
 
-CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
   CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.AZERA_HEV_6TH_GEN: [
     HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
@@ -316,7 +315,7 @@ class Buttons:
   CANCEL = 4  # on newer models, this is a pause/resume button
 
 
-def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
   # Returns unique, platform-specific identification codes for a set of versions
   codes = set()  # (code-Optional[part], date)
   for fw in fw_versions:
@@ -335,12 +334,12 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by
   return codes
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
   fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
-  candidates: Set[str] = set()
+  candidates: set[str] = set()
 
   for candidate, fws in offline_fw_versions.items():
     # Keep track of ECUs which pass all checks (platform codes, within date range)
@@ -396,6 +395,9 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
   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)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
 # Regex patterns for parsing platform code, FW date, and part number from FW versions
@@ -414,6 +416,8 @@ 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]
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@@ -447,13 +451,52 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=False,
     ),
 
-    # CAN-FD debugging queries
+    # CAN & CAN FD query to understand the three digit date code
+    # HDA2 cars usually use 6 digit date codes, so skip bus 1
+    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
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
+      logging=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
@@ -461,6 +504,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
+      logging=True,
       obd_multiplexing=False,
     ),
   ],

selfdrive/car/interfaces.py

@@ -1,11 +1,11 @@
 import json
 import os
-import time
 import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple
+from typing import Any, NamedTuple, cast
+from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
@@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -108,8 +108,16 @@ class CarInterfaceBase(ABC):
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
+
+    if hasattr(candidate, "config"):
+      platform_config = cast(PlatformConfig, candidate.config)
+      if platform_config.specs is not None:
+        ret.mass = platform_config.specs.mass
+        ret.wheelbase = platform_config.specs.wheelbase
+        ret.steerRatio = platform_config.specs.steerRatio
+
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
@@ -124,8 +132,8 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]],
-                  car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: dict[int, dict[int, int]],
+                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod
@@ -205,7 +213,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -239,7 +247,7 @@ class CarInterfaceBase(ABC):
     return reader
 
   @abstractmethod
-  def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
     pass
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -322,13 +330,14 @@ class RadarInterfaceBase(ABC):
     self.pts = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
+    self.frame = 0
     self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    if not self.no_radar_sleep:
-      time.sleep(self.radar_ts)  # radard runs on RI updates
-    return ret
+    self.frame += 1
+    if (self.frame % int(100 * self.radar_ts)) == 0:
+      return car.RadarData.new_message()
+    return None
 
 
 class CarStateBase(ABC):
@@ -409,11 +418,11 @@ class CarStateBase(ABC):
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
   @staticmethod
-  def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
+  def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
     if gear is None:
       return GearShifter.unknown
 
-    d: Dict[str, car.CarState.GearShifter] = {
+    d: dict[str, car.CarState.GearShifter] = {
       'P': GearShifter.park, 'PARK': GearShifter.park,
       'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
       'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
@@ -450,7 +459,7 @@ INTERFACE_ATTR_FILE = {
 
 # interface-specific helpers
 
-def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]:
+def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]:
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models or brand names
   # - values are attr values from all car folders
@@ -483,7 +492,7 @@ class NanoFFModel:
     self.load_weights(platform)
 
   def load_weights(self, platform: str):
-    with open(self.weights_loc, 'r') as fob:
+    with open(self.weights_loc) as fob:
       self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()}
 
   def relu(self, x: np.ndarray):
@@ -498,7 +507,7 @@ class NanoFFModel:
     x = np.dot(x, self.weights['w_4']) + self.weights['b_4']
     return x
 
-  def predict(self, x: List[float], do_sample: bool = False):
+  def predict(self, x: list[float], do_sample: bool = False):
     x = self.forward(np.array(x))
     if do_sample:
       pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature'])

selfdrive/car/isotp_parallel_query.py

@@ -5,11 +5,14 @@ from functools import partial
 import cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addrs=None, debug=False, response_pending_timeout=10):
+  def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
+               request: list[bytes], response: list[bytes], response_offset: int = 0x8,
+               functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -24,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer = defaultdict(list)
+    self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
@@ -63,7 +66,7 @@ class IsoTpParallelQuery:
     messaging.drain_sock_raw(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
+  def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
     can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
                            self.bus, sub_addr=sub_addr, debug=self.debug)
 
@@ -73,7 +76,7 @@ class IsoTpParallelQuery:
     # as well as reduces chances we process messages from previous queries
     return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len)
 
-  def get_data(self, timeout, total_timeout=60.):
+  def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]:
     self._drain_rx()
 
     # Create message objects

selfdrive/car/mazda/carstate.py

@@ -32,7 +32,7 @@ class CarState(CarStateBase):
 
     # Match panda speed reading
     speed_kph = cp.vl["ENGINE_DATA"]["SPEED"]
-    ret.standstill = speed_kph < .1
+    ret.standstill = speed_kph <= .1
 
     can_gear = int(cp.vl["GEAR"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))

selfdrive/car/mazda/values.py

@@ -1,6 +1,5 @@
 from dataclasses import dataclass, field
 from enum import StrEnum
-from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict
@@ -41,7 +40,7 @@ class MazdaCarInfo(CarInfo):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
-CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
+CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = {
   CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),

selfdrive/car/mock/interface.py

@@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
     ret = car.CarState.new_message()
     ret.vEgo = self.sm[gps_sock].speed

selfdrive/car/mock/values.py

@@ -1,5 +1,4 @@
 from enum import StrEnum
-from typing import Dict, List, Optional, Union
 
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 
@@ -8,6 +7,6 @@ class CAR(StrEnum):
   MOCK = 'mock'
 
 
-CAR_INFO: Dict[str, Optional[Union[CarInfo, List[CarInfo]]]] = {
+CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = {
   CAR.MOCK: None,
 }

selfdrive/car/nissan/fingerprints.py

@@ -45,15 +45,30 @@ FW_VERSIONS = {
   },
   CAR.LEAF: {
     (Ecu.abs, 0x740, None): [
+      b'476605SA1C',
+      b'476605SA7D',
+      b'476605SC2D',
+      b'476606WK7B',
       b'476606WK9B',
     ],
     (Ecu.eps, 0x742, None): [
+      b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
     ],
     (Ecu.fwdCamera, 0x707, None): [
+      b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
       b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SA3C',
+      b'284U25SP0C',
+      b'284U25SP1C',
+      b'284U26WK0A',
       b'284U26WK0C',
     ],
   },

selfdrive/car/nissan/values.py

@@ -1,6 +1,5 @@
 from dataclasses import dataclass, field
 from enum import StrEnum
-from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
@@ -37,7 +36,7 @@ class NissanCarInfo(CarInfo):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
 
-CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
+CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = {
   CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
   CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
   CAR.LEAF_IC: None,  # same platforms

selfdrive/car/subaru/fingerprints.py

@@ -509,17 +509,20 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x787, None): [
       b'\x04!\x01\x1eD\x07!\x00\x04,',
       b'\x04!\x08\x01.\x07!\x08\x022',
+      b'\r!\x08\x017\n!\x08\x003',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xd5"`0\x07',
       b'\xd5"a0\x07',
       b'\xf1"`q\x07',
       b'\xf1"aq\x07',
+      b'\xfa"ap\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1d\x86B0\x00',
       b'\x1d\xf6B0\x00',
       b'\x1e\x86B0\x00',
+      b'\x1e\x86F0\x00',
       b'\x1e\xf6D0\x00',
     ],
   },

selfdrive/car/subaru/interface.py

@@ -40,11 +40,10 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
-      ret.mass = 2031.
-      ret.wheelbase = 2.89
+
     ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 13.5
+
+    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
@@ -52,10 +51,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
@@ -63,58 +58,31 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
-      ret.mass = 1480.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
     elif candidate == CAR.CROSSTREK_HYBRID:
-      ret.mass = 1668.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
     elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
 
     elif candidate == CAR.LEGACY_PREGLOBAL:
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
 
     elif candidate == CAR.OUTBACK_PREGLOBAL:
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
+      pass
     else:
       raise ValueError(f"unknown car: {candidate}")
 

selfdrive/car/subaru/subarucan.py

@@ -13,6 +13,15 @@ def create_steering_control(packer, apply_steer, steer_req):
   return packer.make_can_msg("ES_LKAS", 0, values)
 
 
+def create_steering_control_angle(packer, apply_steer, steer_req):
+  values = {
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": steer_req,
+    "SET_3": 3
+  }
+  return packer.make_can_msg("ES_LKAS_ANGLE", 0, values)
+
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 

selfdrive/car/subaru/values.py

@@ -1,10 +1,9 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Union
+from enum import Enum, IntFlag
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -68,27 +67,6 @@ class CanBus:
   camera = 2
 
 
-class CAR(StrEnum):
-  # Global platform
-  ASCENT = "SUBARU ASCENT LIMITED 2019"
-  ASCENT_2023 = "SUBARU ASCENT 2023"
-  IMPREZA = "SUBARU IMPREZA LIMITED 2019"
-  IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
-  FORESTER = "SUBARU FORESTER 2019"
-  OUTBACK = "SUBARU OUTBACK 6TH GEN"
-  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
-  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
-  LEGACY = "SUBARU LEGACY 7TH GEN"
-  FORESTER_2022 = "SUBARU FORESTER 2022"
-  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
-
-  # Pre-global
-  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
-  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
-  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
-  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
-
-
 class Footnote(Enum):
   GLOBAL = CarFootnote(
     "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
@@ -102,7 +80,7 @@ class Footnote(Enum):
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight Driver Assistance"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
-  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
+  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
 
   def init_make(self, CP: car.CarParams):
     self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
@@ -110,32 +88,107 @@ class SubaruCarInfo(CarInfo):
     if CP.experimentalLongitudinalAvailable:
       self.footnotes.append(Footnote.EXP_LONG)
 
-CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.IMPREZA: [
+
+@dataclass
+class SubaruPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
+
+
+class CAR(Platforms):
+  # Global platform
+  ASCENT = SubaruPlatformConfig(
+    "SUBARU ASCENT LIMITED 2019",
+    SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+    specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
+  )
+  OUTBACK = SubaruPlatformConfig(
+    "SUBARU OUTBACK 6TH GEN",
+    SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+  )
+  LEGACY = SubaruPlatformConfig(
+    "SUBARU LEGACY 7TH GEN",
+    SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=OUTBACK.specs,
+  )
+  IMPREZA = SubaruPlatformConfig(
+    "SUBARU IMPREZA LIMITED 2019",
+    [
       SubaruCarInfo("Subaru Impreza 2017-19"),
       SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
       SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
-  CAR.IMPREZA_2020: [
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
+  )
+  IMPREZA_2020 = SubaruPlatformConfig(
+    "SUBARU IMPREZA SPORT 2020",
+    [
       SubaruCarInfo("Subaru Impreza 2020-22"),
       SubaruCarInfo("Subaru Crosstrek 2020-23"),
       SubaruCarInfo("Subaru XV 2020-21"),
     ],
+    specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
+  )
   # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
-  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
-  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
-  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
-  CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-  CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-}
+  CROSSTREK_HYBRID = SubaruPlatformConfig(
+    "SUBARU CROSSTREK HYBRID 2020",
+    SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
+    dbc_dict('subaru_global_2020_hybrid_generated', None),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+  )
+  FORESTER = SubaruPlatformConfig(
+    "SUBARU FORESTER 2019",
+    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+  )
+  FORESTER_HYBRID = SubaruPlatformConfig(
+    "SUBARU FORESTER HYBRID 2020",
+    SubaruCarInfo("Subaru Forester Hybrid 2020"),
+    dbc_dict('subaru_global_2020_hybrid_generated', None),
+    specs=FORESTER.specs,
+  )
+  # Pre-global
+  FORESTER_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU FORESTER 2017 - 2018",
+    SubaruCarInfo("Subaru Forester 2017-18"),
+    dbc_dict('subaru_forester_2017_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
+  )
+  LEGACY_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU LEGACY 2015 - 2018",
+    SubaruCarInfo("Subaru Legacy 2015-18"),
+    dbc_dict('subaru_outback_2015_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
+  )
+  OUTBACK_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2015 - 2017",
+    SubaruCarInfo("Subaru Outback 2015-17"),
+    dbc_dict('subaru_outback_2015_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
+  )
+  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2018 - 2019",
+    SubaruCarInfo("Subaru Outback 2018-19"),
+    dbc_dict('subaru_outback_2019_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
+  )
+  # Angle LKAS
+  FORESTER_2022 = SubaruPlatformConfig(
+    "SUBARU FORESTER 2022",
+    SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+    specs=FORESTER.specs,
+  )
+  OUTBACK_2023 = SubaruPlatformConfig(
+    "SUBARU OUTBACK 7TH GEN",
+    SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=OUTBACK.specs,
+  )
+  ASCENT_2023 = SubaruPlatformConfig(
+    "SUBARU ASCENT 2023",
+    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=ASCENT.specs,
+  )
+
 
 LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
@@ -186,20 +239,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
   }
 )
 
-DBC = {
-  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
-  CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
-  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
-  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()

selfdrive/car/tesla/values.py

@@ -1,6 +1,5 @@
 from collections import namedtuple
 from enum import StrEnum
-from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
@@ -17,7 +16,7 @@ class CAR(StrEnum):
   AP2_MODELS = 'TESLA AP2 MODEL S'
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
   CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
   CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
 }

selfdrive/car/tests/big_cars_test.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+SCRIPT_DIR=$(dirname "$0")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
+cd $BASEDIR
+
+MAX_EXAMPLES=300
+INTERNAL_SEG_CNT=300
+FILEREADER_CACHE=1
+INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
+
+cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py

selfdrive/car/tests/routes.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from typing import NamedTuple, Optional
+from typing import NamedTuple
 
 from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
 from openpilot.selfdrive.car.gm.values import CAR as GM
@@ -20,7 +20,6 @@ non_tested_cars = [
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
-  GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
@@ -30,8 +29,8 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: Optional[str]
-  segment: Optional[int] = None
+  car_model: str | None
+  segment: int | None = None
 
 
 routes = [
@@ -46,6 +45,7 @@ routes = [
   CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
   CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
   CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
+  CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
 
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
@@ -59,6 +59,7 @@ routes = [
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
+  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.EQUINOX),
   CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
@@ -186,6 +187,7 @@ routes = [
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
   CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
+  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
@@ -207,6 +209,7 @@ routes = [
   CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX),  # hybrid
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
   CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
+  CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
@@ -221,7 +224,7 @@ routes = [
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
-  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
+  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
@@ -289,7 +292,6 @@ routes = [
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold
   CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
-  CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
   # Controls mismatch due to standstill threshold
   CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_car_interfaces.py

@@ -46,11 +46,6 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
 
 
 class TestCarInterfaces(unittest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    os.environ['NO_RADAR_SLEEP'] = '1'
-
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
   @parameterized.expand([(car,) for car in sorted(all_known_cars())])
@@ -79,6 +74,10 @@ class TestCarInterfaces(unittest.TestCase):
     self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
     self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
+    # If we're using the interceptor for gasPressed, we should be commanding gas with it
+    if car_params.enableGasInterceptor:
+      self.assertTrue(car_params.openpilotLongitudinalControl)
+
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning

selfdrive/car/tests/test_docs.py

@@ -20,7 +20,7 @@ class TestCarDocs(unittest.TestCase):
 
   def test_generator(self):
     generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT, "r") as f:
+    with open(CARS_MD_OUT) as f:
       current_cars_md = f.read()
 
     self.assertEqual(generated_cars_md, current_cars_md,
@@ -45,7 +45,7 @@ class TestCarDocs(unittest.TestCase):
     all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
     for platform in sorted(interfaces.keys()):
       with self.subTest(platform=platform):
-        self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
+        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo")
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by brand

selfdrive/car/tests/test_fingerprints.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 import sys
-from typing import Dict, List
 
 from openpilot.common.basedir import BASEDIR
 
@@ -64,7 +63,7 @@ def check_can_ignition_conflicts(fingerprints, brands):
 if __name__ == "__main__":
   fingerprints = _get_fingerprints()
 
-  fingerprints_flat: List[Dict] = []
+  fingerprints_flat: list[dict] = []
   car_names = []
   brand_names = []
   for brand in fingerprints:

selfdrive/car/tests/test_fw_fingerprint.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import pytest
 import random
 import time
 import unittest
@@ -34,17 +33,28 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
     self.assertEqual(candidates[0], expected)
 
-  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_exact_match(self, brand, car_model, ecus):
+  @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
+  def test_exact_match(self, brand, car_model, ecus, test_non_essential):
+    config = FW_QUERY_CONFIGS[brand]
     CP = car.CarParams.new_message()
-    for _ in range(200):
+    for _ in range(100):
       fw = []
       for ecu, fw_versions in ecus.items():
+        # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with
+        # missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs
+        if ecu[0] in config.non_essential_ecus and test_non_essential:
+          continue
+
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
+      if not test_non_essential:
+        self.assertFingerprints(matches, car_model)
+      else:
+        # if we're removing ECUs we expect some match loss, but it shouldn't mismatch
+        if len(matches) != 0:
           self.assertFingerprints(matches, car_model)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
@@ -226,7 +236,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.5, 'best': 0.5}  # best assumes we go through all queries to get a match
+    vin_ref_times = {'worst': 1.2, 'best': 0.6}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.75
 
     def fake_get_ecu_addrs(*_, timeout):
@@ -252,47 +262,49 @@ class TestFwFingerprintTiming(unittest.TestCase):
         self._assert_timing(self.total_time / self.N, vin_ref_times[name])
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
-  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.8
+    total_ref_time = {1: 6.5, 2: 7.4}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.1,
+        'ford': 0.2,
         'honda': 0.55,
-        'hyundai': 0.65,
+        'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.45,
         'tesla': 0.2,
         'toyota': 1.6,
-        'volkswagen': 0.2,
+        'volkswagen': 0.65,
       },
       2: {
-        'ford': 0.2,
-        'hyundai': 1.05,
+        'ford': 0.3,
+        'hyundai': 1.85,
       }
     }
 
-    total_time = 0
+    total_times = {1: 0.0, 2: 0.0}
     for num_pandas in (1, 2):
       for brand, config in FW_QUERY_CONFIGS.items():
         with self.subTest(brand=brand, num_pandas=num_pandas):
-          multi_panda_requests = [r for r in config.requests if r.bus > 3]
-          if not len(multi_panda_requests) and num_pandas > 1:
-            raise unittest.SkipTest("No multi-panda FW queries")
-
           avg_time = self._benchmark_brand(brand, num_pandas)
-          total_time += avg_time
+          total_times[num_pandas] += avg_time
           avg_time = round(avg_time, 2)
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
+
+          ref_time = brand_ref_times[num_pandas].get(brand)
+          if ref_time is None:
+            # ref time should be same as 1 panda if no aux queries
+            ref_time = brand_ref_times[num_pandas - 1][brand]
+
+          self._assert_timing(avg_time, ref_time)
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
-    with self.subTest(brand='all_brands'):
-      total_time = round(total_time, 2)
-      self._assert_timing(total_time, total_ref_time)
+    for num_pandas in (1, 2):
+      with self.subTest(brand='all_brands', num_pandas=num_pandas):
+        total_time = round(total_times[num_pandas], 2)
+        self._assert_timing(total_time, total_ref_time[num_pandas])
         print(f'all brands, total FW query time={total_time} seconds')
 
 

selfdrive/car/tests/test_lateral_limits.py

@@ -3,7 +3,6 @@ from collections import defaultdict
 import importlib
 from parameterized import parameterized_class
 import sys
-from typing import DefaultDict, Dict
 import unittest
 
 from openpilot.common.realtime import DT_CTRL
@@ -29,7 +28,7 @@ ABOVE_LIMITS_CARS = [
   SUBARU.OUTBACK,
 ]
 
-car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
+car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
 
 
 @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])

selfdrive/car/tests/test_models.py

@@ -8,7 +8,6 @@ import unittest
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-from typing import List, Optional, Tuple
 from parameterized import parameterized_class
 
 from cereal import messaging, log, car
@@ -23,9 +22,8 @@ from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTes
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.comma_car_segments import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentName, RouteName
+from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
+from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
@@ -37,11 +35,11 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50"))
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
 CI = os.environ.get("CI", None) is not None
 
 
-def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
+def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
   # build list of test cases
   test_cases = []
   if not len(INTERNAL_SEG_LIST):
@@ -51,7 +49,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
     for i, c in enumerate(sorted(all_known_cars())):
       if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
+        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
 
   else:
     segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
@@ -66,22 +64,14 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: Optional[str] = None
-  test_route: Optional[CarTestRoute] = None
+  car_model: str | None = None
+  test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
-  can_msgs: List[capnp.lib.capnp._DynamicStructReader]
+  can_msgs: list[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
-  elm_frame: Optional[int]
-  car_safety_mode_frame: Optional[int]
-
-  @classmethod
-  def get_logreader(cls, seg):
-    if len(INTERNAL_SEG_LIST):
-      route_name = RouteName(cls.test_route.route)
-      return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2")
-    else:
-      return LogReader(get_url(cls.test_route.route, seg))
+  elm_frame: int | None
+  car_safety_mode_frame: int | None
 
   @classmethod
   def get_testing_data_from_logreader(cls, lr):
@@ -133,22 +123,26 @@ class TestCarModelBase(unittest.TestCase):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    # Try the primary method first (CI or internal)
+    is_internal = len(INTERNAL_SEG_LIST)
+
     for seg in test_segs:
+      segment_range = f"{cls.test_route.route}/{seg}"
+
       try:
-        lr = cls.get_logreader(seg)
+        lr = LogReader(segment_range, default_source=internal_source if is_internal else openpilotci_source)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
     # Route is not in CI bucket, assume either user has access (private), or it is public
     # test_route_on_ci_bucket will fail when running in CI
-    if not len(INTERNAL_SEG_LIST):
+    if not is_internal:
       cls.test_route_on_bucket = False
 
       for seg in test_segs:
+        segment_range = f"{cls.test_route.route}/{seg}"
         try:
-          lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
+          lr = LogReader(segment_range)
           return cls.get_testing_data_from_logreader(lr)
         except Exception:
           pass
@@ -239,7 +233,6 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    os.environ['NO_RADAR_SLEEP'] = "1"
     RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
     RI = RadarInterface(self.CP)
     assert RI
@@ -414,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
 
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
-    checks = defaultdict(lambda: 0)
+    checks = defaultdict(int)
     controlsd = Controls(CI=self.CI)
     controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):

selfdrive/car/torque_data/override.toml

@@ -42,7 +42,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
 "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
 "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
-"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05]
+"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
 "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]

selfdrive/car/torque_data/substitute.toml

@@ -5,12 +5,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "MAZDA CX-5 2022" = "MAZDA CX-9 2021"
 "MAZDA CX-9" = "MAZDA CX-9 2021"
 
+"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
+
 "TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
 "TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
 "LEXUS IS 2018" = "LEXUS NX 2018"
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"
+"LEXUS LC 2024" = "LEXUS NX 2020"
 
 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
 "KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"

selfdrive/car/toyota/carcontroller.py

@@ -55,10 +55,10 @@ class CarController:
     apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
 
     # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
                                                                       self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
 
-    if not CC.latActive:
+    if not lat_active:
       apply_steer = 0
 
     # *** steer angle ***

selfdrive/car/toyota/carstate.py

@@ -95,6 +95,9 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
+    if self.CP.carFingerprint != CAR.MIRAI:
+      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
+
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
@@ -180,6 +183,9 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
+    if CP.carFingerprint != CAR.MIRAI:
+      messages.append(("ENGINE_RPM", 42))
+
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
       messages.append(("PCM_CRUISE_ALT", 1))

selfdrive/car/toyota/fingerprints.py

@@ -38,6 +38,7 @@ FW_VERSIONS = {
       b'F152607180\x00\x00\x00\x00\x00\x00',
       b'F152641040\x00\x00\x00\x00\x00\x00',
       b'F152641050\x00\x00\x00\x00\x00\x00',
+      b'F152641060\x00\x00\x00\x00\x00\x00',
       b'F152641061\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -55,10 +56,12 @@ FW_VERSIONS = {
       b'\x01896630725100\x00\x00\x00\x00',
       b'\x01896630725200\x00\x00\x00\x00',
       b'\x01896630725300\x00\x00\x00\x00',
+      b'\x01896630725400\x00\x00\x00\x00',
       b'\x01896630735100\x00\x00\x00\x00',
       b'\x01896630738000\x00\x00\x00\x00',
       b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630734000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1361,16 +1364,19 @@ FW_VERSIONS = {
       b'\x018966378G3000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\x0237881000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',
+      b'F152678200\x00\x00\x00\x00\x00\x00',
       b'F152678210\x00\x00\x00\x00\x00\x00',
       b'F152678211\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B78110\x00\x00\x00\x00\x00\x00',
       b'8965B78120\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1383,6 +1389,23 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_LC_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152611390\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B11091\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
       b'\x01896632461100\x00\x00\x00\x00',
@@ -1417,6 +1440,7 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896630E36100\x00\x00\x00\x00',
       b'\x01896630E36200\x00\x00\x00\x00',
       b'\x01896630E36300\x00\x00\x00\x00',
       b'\x01896630E37100\x00\x00\x00\x00',

selfdrive/car/toyota/interface.py

@@ -181,6 +181,12 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG
 
+    elif candidate == CAR.LEXUS_LC_TSS2:
+      ret.wheelbase = 2.87
+      ret.steerRatio = 13.0
+      ret.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 4500 * CV.LB_TO_KG
+
     elif candidate == CAR.PRIUS_TSS2:
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRatio from older prius
@@ -219,20 +225,16 @@ class CarInterface(CarInterfaceBase):
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
-    ret.enableGasInterceptor = 0x201 in fingerprint[0]
-
-    if ret.enableGasInterceptor:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
     if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu
+      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
 
       if not use_sdsu:
         # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and candidate in RADAR_ACC_CAR:
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -247,10 +249,14 @@ class CarInterface(CarInterfaceBase):
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
+    ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

selfdrive/car/toyota/values.py

@@ -2,7 +2,6 @@ import re
 from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Set, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -81,6 +80,7 @@ class CAR(StrEnum):
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_LC_TSS2 = "LEXUS LC 2024"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
@@ -99,7 +99,7 @@ class ToyotaCarInfo(CarInfo):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
 
 
-CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
+CAR_INFO: dict[str, ToyotaCarInfo | list[ToyotaCarInfo]] = {
   # Toyota
   CAR.ALPHARD_TSS2: [
     ToyotaCarInfo("Toyota Alphard 2019-20"),
@@ -206,6 +206,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus NX 2020-21"),
     ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
   ],
+  CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@@ -251,7 +252,7 @@ STATIC_DSU_MSGS = [
 ]
 
 
-def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
+def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
   # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
   codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version
   for fw in fw_versions:
@@ -295,7 +296,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
   return dict(codes)
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
   candidates = set()
 
   for candidate, fws in offline_fw_versions.items():
@@ -444,6 +445,7 @@ DBC = {
   CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -480,7 +482,8 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
             CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
+            CAR.CHR_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 

selfdrive/car/vin.py

@@ -15,13 +15,14 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
   for i in range(retry):
     for bus in buses:
       for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
         (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+        (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
       ):
         if bus not in valid_buses:
           continue
@@ -40,8 +41,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
           for addr in vin_addrs:
             vin = results.get((addr, None))
             if vin is not None:
-              # Ford pads with null bytes
-              if len(vin) == 24:
+              # Ford and Nissan pads with null bytes
+              if len(vin) in (19, 24):
                 vin = re.sub(b'\x00*$', b'', vin)
 
               # Honda Bosch response starts with a length, trim to correct length
@@ -49,7 +50,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
                 vin = vin[1:18]
 
               cloudlog.error(f"got vin with {request=}")
-              return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
+              return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
         except Exception:
           cloudlog.exception("VIN query exception")
 

selfdrive/car/volkswagen/fingerprints.py

@@ -1043,6 +1043,7 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331',
       b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
@@ -1062,6 +1063,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',

selfdrive/car/volkswagen/interface.py

@@ -72,9 +72,13 @@ class CarInterface(CarInterfaceBase):
 
     # Global lateral tuning defaults, can be overridden per-vehicle
 
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
+    ret.steerLimitTimer = 0.4
+    if candidate in PQ_CARS:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    else:
+      ret.steerActuatorDelay = 0.1
       ret.lateralTuning.pid.kpBP = [0.]
       ret.lateralTuning.pid.kiBP = [0.]
       ret.lateralTuning.pid.kf = 0.00006
@@ -131,8 +135,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.POLO_MK6:
       ret.mass = 1230
@@ -142,7 +144,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1639
       ret.wheelbase = 2.92
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.TAOS_MK1:
       ret.mass = 1498

selfdrive/car/volkswagen/values.py

@@ -1,7 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
@@ -151,7 +150,7 @@ class CAR(StrEnum):
 PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
 
 
-DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
+DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
 for car_type in PQ_CARS:
   DBC[car_type] = dbc_dict("vw_golf_mk4", None)
 
@@ -191,7 +190,7 @@ class VWCarInfo(CarInfo):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
 
-CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
+CAR_INFO: dict[str, VWCarInfo | list[VWCarInfo]] = {
   CAR.ARTEON_MK1: [
     VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
     VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
@@ -293,17 +292,24 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER +
 VOLKSWAGEN_RX_OFFSET = 0x6a
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
+  # TODO: add back whitelists after we gather enough data
+  requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
+      # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
       rx_offset=VOLKSWAGEN_RX_OFFSET,
+      bus=bus,
+      logging=(bus != 1 or not obd_multiplexing),
+      obd_multiplexing=obd_multiplexing,
     ),
     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

@@ -5,28 +5,34 @@ import time
 import threading
 from typing import SupportsFloat
 
-from cereal import car, log
-from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
-from openpilot.common.params import Params
 import cereal.messaging as messaging
+
+from cereal import car, log
 from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.conversions import Conversions as CV
+
 from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_short_branch
+
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
-from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.controls.lib.events import Events, ET
-from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_short_branch
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -55,32 +61,19 @@ ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
-class Controls:
-  def __init__(self, CI=None):
-    config_realtime_process(4, Priority.CTRL_HIGH)
+class CarD:
+  CI: CarInterfaceBase
+  CS: car.CarState
 
-    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
-    self.branch = get_short_branch()
-
-    # Setup sockets
-    self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                   'carControl', 'onroadEvents', 'carParams'])
-
-    self.sensor_packets = ["accelerometer", "gyroscope"]
-    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
-
-    self.log_sock = messaging.sub_sock('androidLog')
+  def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
+    self.sm = messaging.SubMaster(['pandaStates'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams'])
+
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.params = Params()
-    ignore = self.sensor_packets + ['testJoystick']
-    if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
-                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -93,25 +86,17 @@ class Controls:
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
-
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    # read params
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
-    # detect sound card presence and ensure successful init
-    sounds_available = HARDWARE.get_sound_card_online()
-
     car_recognized = self.CP.carName != 'mock'
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
     self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
@@ -129,6 +114,113 @@ class Controls:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+  def initialize(self):
+    """Initialize CarInterface, once controls are ready"""
+    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+
+  def state_update(self, CC: car.CarControl):
+    """carState update loop, driven by can"""
+
+    # TODO: This should not depend on carControl
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    self.CS = self.CI.update(CC, can_strs)
+
+    self.sm.update(0)
+
+    can_rcv_valid = len(can_strs) > 0
+
+    # Check for CAN timeout
+    if not can_rcv_valid:
+      self.can_rcv_timeout_counter += 1
+      self.can_rcv_cum_timeout_counter += 1
+    else:
+      self.can_rcv_timeout_counter = 0
+
+    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+
+    if can_rcv_valid and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+
+    return self.CS
+
+  def state_publish(self, car_events):
+    """carState and carParams publish loop"""
+
+    # TODO: carState should be independent of the event loop
+
+    # carState
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = self.CS.canValid
+    cs_send.carState = self.CS
+    cs_send.carState.events = car_events
+    self.pm.send('carState', cs_send)
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+      cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+  def controls_update(self, CC: car.CarControl):
+    """control update loop, driven by carControl"""
+
+    # send car controls over can
+    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+    actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+
+    return actuators_output
+
+
+class Controls:
+  def __init__(self, CI=None):
+    self.card = CarD(CI)
+
+    self.CP = self.card.CP
+    self.CI = self.card.CI
+
+    config_realtime_process(4, Priority.CTRL_HIGH)
+
+    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
+    self.branch = get_short_branch()
+
+    # Setup sockets
+    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
+
+    self.sensor_packets = ["accelerometer", "gyroscope"]
+    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+
+    self.log_sock = messaging.sub_sock('androidLog')
+
+    self.params = Params()
+    ignore = self.sensor_packets + ['testJoystick']
+    if SIMULATION:
+      ignore += ['driverCameraState', 'managerState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  frequency=int(1/DT_CTRL))
+
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
+
+    # read params
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
+    car_recognized = self.CP.carName != 'mock'
+
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
       self.params.remove("ExperimentalLongitudinalEnabled")
@@ -158,8 +250,6 @@ class Controls:
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
-    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
     self.last_blinker_frame = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
@@ -311,7 +401,8 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
+      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
@@ -323,7 +414,7 @@ class Controls:
     num_events = len(self.events)
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
@@ -346,10 +437,9 @@ class Controls:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    can_rcv_timeout = self.can_rcv_timeout_counter >= 5
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -361,7 +451,7 @@ class Controls:
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': can_rcv_timeout,
+        'can_rcv_timeout': self.card.can_rcv_timeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -380,7 +470,7 @@ class Controls:
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
-    if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
       self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
@@ -410,9 +500,12 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
         self.events.add(EventName.noGps)
+      if self.sm['liveLocationKalman'].gpsOK:
+        self.distance_traveled = 0
+      self.distance_traveled += CS.vEgo * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -420,17 +513,13 @@ class Controls:
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
-    # Update carState from CAN
-    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC, can_strs)
-    if len(can_strs) and REPLAY:
-      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+    CS = self.card.state_update(self.CC)
 
     self.sm.update(0)
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      timed_out = self.sm.frame * DT_CTRL > 6.
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
@@ -439,18 +528,22 @@ class Controls:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
         if not self.CP.passive:
-          self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+          self.card.initialize()
 
         self.initialized = True
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
 
-    # Check for CAN timeout
-    if not can_strs:
-      self.can_rcv_timeout_counter += 1
-      self.can_rcv_cum_timeout_counter += 1
-    else:
-      self.can_rcv_timeout_counter = 0
+        cloudlog.event(
+          "controlsd.initialized",
+          dt=self.sm.frame*DT_CTRL,
+          timeout=timed_out,
+          canValid=CS.canValid,
+          invalid=[s for s, valid in self.sm.valid.items() if not valid],
+          not_alive=[s for s, alive in self.sm.alive.items() if not alive],
+          not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+          error=True,
+        )
 
     # When the panda and controlsd do not agree on controls_allowed
     # we want to disengage openpilot. However the status from the panda goes through
@@ -464,8 +557,6 @@ class Controls:
            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
-    self.distance_traveled += CS.vEgo * DT_CTRL
-
     return CS
 
   def state_transition(self, CS):
@@ -603,7 +694,7 @@ class Controls:
     if not self.joystick_mode:
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
+      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
       # Steering PID loop and lateral MPC
@@ -614,9 +705,9 @@ class Controls:
                                                                              self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
-      if self.sm.rcv_frame['testJoystick'] > 0:
+      if self.sm.recv_frame['testJoystick'] > 0:
         # reset joystick if it hasn't been received in a while
-        should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
+        should_reset_joystick = (self.sm.frame - self.sm.recv_frame['testJoystick'])*DT_CTRL > 0.2
         if not should_reset_joystick:
           joystick_axes = self.sm['testJoystick'].axes
         else:
@@ -691,7 +782,7 @@ class Controls:
 
     CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
-    if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
+    if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
     speeds = self.sm['longitudinalPlan'].speeds
@@ -742,10 +833,7 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      # send car controls over can
-      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
-      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+      self.last_actuators = self.card.controls_update(CC)
       CC.actuatorsOutput = self.last_actuators
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
@@ -793,7 +881,7 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
 
     lat_tuning = self.CP.lateralTuning.which()
@@ -808,13 +896,9 @@ class Controls:
 
     self.pm.send('controlsState', dat)
 
-    # carState
     car_events = self.events.to_msg()
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = CS.canValid
-    cs_send.carState = CS
-    cs_send.carState.events = car_events
-    self.pm.send('carState', cs_send)
+
+    self.card.state_publish(car_events)
 
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
@@ -824,13 +908,6 @@ class Controls:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
-    # carParams - logged every 50 seconds (> 1 per segment)
-    if (self.sm.frame % int(50. / DT_CTRL) == 0):
-      cp_send = messaging.new_message('carParams')
-      cp_send.valid = True
-      cp_send.carParams = self.CP
-      self.pm.send('carParams', cp_send)
-
     # carControl
     cc_send = messaging.new_message('carControl')
     cc_send.valid = CS.canValid

selfdrive/controls/lib/alertmanager.py

@@ -3,7 +3,6 @@ import os
 import json
 from collections import defaultdict
 from dataclasses import dataclass
-from typing import List, Dict, Optional
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
@@ -14,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
@@ -25,7 +24,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] =
 
 @dataclass
 class AlertEntry:
-  alert: Optional[Alert] = None
+  alert: Alert | None = None
   start_frame: int = -1
   end_frame: int = -1
 
@@ -34,9 +33,9 @@ class AlertEntry:
 
 class AlertManager:
   def __init__(self):
-    self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
+    self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
 
-  def add_many(self, frame: int, alerts: List[Alert]) -> None:
+  def add_many(self, frame: int, alerts: list[Alert]) -> None:
     for alert in alerts:
       entry = self.alerts[alert.alert_type]
       entry.alert = alert
@@ -45,7 +44,7 @@ class AlertManager:
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
 
-  def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
+  def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None:
     current_alert = AlertEntry()
     for v in self.alerts.values():
       if not v.alert:

selfdrive/controls/lib/events.py

@@ -2,7 +2,7 @@
 import math
 import os
 from enum import IntEnum
-from typing import Dict, Union, Callable, List, Optional
+from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -48,12 +48,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 class Events:
   def __init__(self):
-    self.events: List[int] = []
-    self.static_events: List[int] = []
+    self.events: list[int] = []
+    self.static_events: list[int] = []
     self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
-  def names(self) -> List[int]:
+  def names(self) -> list[int]:
     return self.events
 
   def __len__(self) -> int:
@@ -71,7 +71,7 @@ class Events:
   def contains(self, event_type: str) -> bool:
     return any(event_type in EVENTS.get(e, {}) for e in self.events)
 
-  def create_alerts(self, event_types: List[str], callback_args=None):
+  def create_alerts(self, event_types: list[str], callback_args=None):
     if callback_args is None:
       callback_args = []
 
@@ -132,7 +132,7 @@ class Alert:
     self.creation_delay = creation_delay
 
     self.alert_type = ""
-    self.event_type: Optional[str] = None
+    self.event_type: str | None = None
 
   def __str__(self) -> str:
     return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
@@ -333,7 +333,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
 
 
 
-EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
+EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
   EventName.stockFcw: {},
@@ -767,12 +767,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # is thrown. This can mean a service crashed, did not broadcast a message for
   # ten times the regular interval, or the average interval is more than 10% too high.
   EventName.commIssue: {
-    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
     ET.NO_ENTRY: comm_issue_alert,
   },
   EventName.commIssueAvgFreq: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate between Processes"),
-    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
+    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
   },
 
   EventName.controlsdLagging: {
@@ -965,7 +965,7 @@ if __name__ == '__main__':
   from collections import defaultdict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
-  alerts_by_type: Dict[str, Dict[Priority, List[str]]] = defaultdict(lambda: defaultdict(list))
+  alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
@@ -977,7 +977,7 @@ if __name__ == '__main__':
         alert = alert(CP, CS, sm, False, 1)
       alerts_by_type[et][alert.priority].append(event_names[i])
 
-  all_alerts: Dict[str, List[tuple[Priority, List[str]]]] = {}
+  all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
   for et, priority_alerts in alerts_by_type.items():
     all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
 

selfdrive/controls/lib/vehicle_model.py

@@ -12,7 +12,6 @@ x_dot = A*x + B*u
 
 A depends on longitudinal speed, u [m/s], and vehicle parameters CP
 """
-from typing import Tuple
 
 import numpy as np
 from numpy.linalg import solve
@@ -169,7 +168,7 @@ def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
   return K * sa
 
 
-def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
+def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]:
   """Returns the A and B matrix for the dynamics system
 
   Args:

selfdrive/controls/plannerd.py

@@ -29,11 +29,10 @@ def plannerd_thread():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
-                           poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
+                           poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
     sm.update()
-
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/controls/radard.py

@@ -2,13 +2,13 @@
 import importlib
 import math
 from collections import deque
-from typing import Optional, Dict, Any
+from typing import Any, Optional
 
 import capnp
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
@@ -125,7 +125,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]):
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
@@ -166,8 +166,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
   }
 
 
-def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
+def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -196,18 +196,20 @@ class RadarD:
   def __init__(self, radar_ts: float, delay: int = 0):
     self.current_time = 0.0
 
-    self.tracks: Dict[int, Track] = {}
+    self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(radar_ts)
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=delay+1)
+    self.last_v_ego_frame = -1
 
-    self.radar_state: Optional[capnp._DynamicStructBuilder] = None
+    self.radar_state: capnp._DynamicStructBuilder | None = None
     self.radar_state_valid = False
 
     self.ready = False
 
   def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+    self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     radar_points = []
@@ -216,11 +218,10 @@ class RadarD:
       radar_points = rr.points
       radar_errors = rr.errors
 
-    if sm.updated['carState']:
+    if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
-    if sm.updated['modelV2']:
-      self.ready = True
+      self.last_v_ego_frame = sm.recv_frame['carState']
 
     ar_pts = {}
     for pt in radar_points:
@@ -282,7 +283,7 @@ class RadarD:
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
+def main():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
@@ -296,11 +297,8 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
   RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
 
   # *** setup messaging
-  if can_sock is None:
   can_sock = messaging.sub_sock('can')
-  if sm is None:
-    sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState'])  # Can't check average frequency, since radar determines timing
-  if pm is None:
+  sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
   pm = messaging.PubMaster(['radarState', 'liveTracks'])
 
   RI = RadarInterface(CP)
@@ -311,21 +309,15 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
     rr = RI.update(can_strings)
-
+    sm.update(0)
     if rr is None:
       continue
 
-    sm.update(0)
-
     RD.update(sm, rr)
     RD.publish(pm, -rk.remaining*1000.0)
 
     rk.monitor_time()
 
 
-def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
-  radard_thread(sm, pm, can_sock)
-
-
 if __name__ == "__main__":
   main()

selfdrive/debug/can_print_changes.py

@@ -3,7 +3,6 @@ import argparse
 import binascii
 import time
 from collections import defaultdict
-from typing import Optional
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.debug.can_table import can_table
@@ -96,8 +95,8 @@ if __name__ == "__main__":
 
   args = parser.parse_args()
 
-  init_lr: Optional[LogIterable] = None
-  new_lr: Optional[LogIterable] = None
+  init_lr: LogIterable | None = None
+  new_lr: LogIterable | None = None
 
   if args.init:
     if args.init == '':

selfdrive/debug/check_freq.py

@@ -3,7 +3,7 @@ import argparse
 import numpy as np
 import time
 from collections import defaultdict, deque
-from typing import DefaultDict, Deque, MutableSequence
+from collections.abc import MutableSequence
 
 import cereal.messaging as messaging
 
@@ -19,8 +19,8 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
-  valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
+  valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = time.monotonic()
   for name in socket_names: