From c64bca97bac68462a63b47d33aedf869d21ac97e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 13 Jun 2024 05:20:06 +0800
Subject: [PATCH 001/247] logreader.py: optimize event loading and sorting in
 _LogFileReader (#32729)

* improve logfilereader

* less changes
---
 tools/lib/logreader.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 669c1520db46a5..48a04b28de608c 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -46,15 +46,15 @@ def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=F
 
     ents = capnp_log.Event.read_multiple_bytes(dat)
 
-    _ents = []
+    self._ents = []
     try:
       for e in ents:
-        _ents.append(e)
+        self._ents.append(e)
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
-    self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
-    self._ts = [x.logMonoTime for x in self._ents]
+    if sort_by_time:
+      self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     for ent in self._ents:

From 7dbf60b4bce04a071eafcbc3eb0815e968e401be Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 17:16:30 -0700
Subject: [PATCH 002/247] controlsd: exit on any exception (#32730)

* exit on any exception

* finally so we don't catch
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4f5bd194056ba7..aeeb3489b51481 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -835,7 +835,7 @@ def controlsd_thread(self):
       while True:
         self.step()
         self.rk.monitor_time()
-    except SystemExit:
+    finally:
       e.set()
       t.join()
 

From 742a3a94e39440706c8ccff7ad1dcdce506a0c8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 19:26:34 -0700
Subject: [PATCH 003/247] Hyundai: add note about fwdRadar FW (#32733)

comment
---
 selfdrive/car/hyundai/fingerprints.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index d115283dd5c90d..c3d3dcd0371638 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -2,6 +2,9 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
+# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
+# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
+
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {

From 4539c973491bedabb4cd6cf8791d090987c56629 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 19:36:26 -0700
Subject: [PATCH 004/247] Improve ECU address finder script (#32734)

* put pandad in good state

* obd option

* fix

* it's rx
---
 selfdrive/car/ecu_addrs.py | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e7a9fbcf2cef0d..756cd7f963f0ce 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
   parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  time.sleep(1.0)
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
   ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
-  print("Found ECUs on addresses:")
+  print("Found ECUs on rx addresses:")
   for addr, subaddr, _ in ecu_addrs:
-    msg = f"  0x{hex(addr)}"
+    msg = f"  {hex(addr)}"
     if subaddr is not None:
       msg += f" (sub-address: {hex(subaddr)})"
     print(msg)

From 04a93dd849461df7a3496706c6172d95e83149c9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 21:14:23 -0700
Subject: [PATCH 005/247] add zstd Python library (#32731)

* add zstd

* fix

* uploader

* logreader: zst support

* caps

* only logreader
---
 poetry.lock            | 103 +++++++++++++++++++++++++++++++++++++++--
 pyproject.toml         |   1 +
 tools/lib/logreader.py |   8 +++-
 3 files changed, 106 insertions(+), 6 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 7e772276edb338..c5f372173cecd4 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2730,6 +2730,7 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"},
+    {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
@@ -2751,6 +2752,7 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"},
+    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:a09ed50ba21cc5bf5d436cb0e784ad09c692d6b1d1454252772f6c8f2c7b4088"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"},
@@ -3459,8 +3461,6 @@ files = [
     {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
     {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
     {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@@ -7020,7 +7020,6 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
     {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
     {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
     {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
@@ -8009,7 +8008,103 @@ files = [
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
+[[package]]
+name = "zstd"
+version = "1.5.5.1"
+description = "ZSTD Bindings for Python"
+optional = false
+python-versions = "*"
+files = [
+    {file = "zstd-1.5.5.1-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:555779789bc75cd05089c3ba857f45a0a8c4b87d45e5ced02fec77fa8719237a"},
+    {file = "zstd-1.5.5.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:86496bd4830cdb7b4b05a9ce6ce2baee87d327ff90845da4ee308452bfbbed4e"},
+    {file = "zstd-1.5.5.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:b487c2e67ed42a4e0d47997d209f4456b01b334023083ef61873f79577c84c62"},
+    {file = "zstd-1.5.5.1-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:45ccd45a5b681088fca1a863ca9236ded5112b8011f1d5bf69e908f5eb32023a"},
+    {file = "zstd-1.5.5.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:8403fe84207d8b0c7b17bca6c4caad431ac765b1b9b626ad9fae4bb93a64a9d8"},
+    {file = "zstd-1.5.5.1-cp310-cp310-macosx_10_14_x86_64.whl", hash = "sha256:0ab979c6357b8927f0c025ea2f72f25e15d03ce17a8a6c1789e2d5b108bf39ae"},
+    {file = "zstd-1.5.5.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:98cbee6c1b2fe85f02fd475d885f98363c63bc64eebc249d7eb7469a0ff70283"},
+    {file = "zstd-1.5.5.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9962714b89641301029f3832bdf07c20f60b9e64e39e8d7b6253451a82b54f5c"},
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+    {file = "zstd-1.5.5.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:530d69bea2791cde8afa7fe988f3a37c3ba37015f6a1d5593c0500f089f3090e"},
+    {file = "zstd-1.5.5.1-cp310-cp310-win32.whl", hash = "sha256:cf179e51f447b6a7ff47e449fcb98fb5fe15aedcc90401697cf7c93dd6e4434e"},
+    {file = "zstd-1.5.5.1-cp310-cp310-win_amd64.whl", hash = "sha256:5f5e6e0805d710d7509c8d175a467eb89c631a4142b1a630ceeb8e3e3138d152"},
+    {file = "zstd-1.5.5.1-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:022f935a8666e08f0fff6204938a84d9fe4fcd8235a205787275933a07a164fb"},
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+    {file = "zstd-1.5.5.1-cp37-cp37m-macosx_10_14_x86_64.whl", hash = "sha256:8bd6a9050de8bbe844447348372ca17d01bc05207619f6a5d448567d111b5cd9"},
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+    {file = "zstd-1.5.5.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c6ac9768eeb3c6b530db93de2fec9b363776075dc8a00ee4049612ba5397ca8e"},
+    {file = "zstd-1.5.5.1.tar.gz", hash = "sha256:1ef980abf0e1e072b028d2d76ef95b476632651c96225cf30b619c6eef625672"},
+]
+
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244"
+content-hash = "877bf9463a547f2e1b11d057f20504459e75cf21b5f0dab341d6205a4de1f54c"
diff --git a/pyproject.toml b/pyproject.toml
index 7b780c87f0791e..edc515771a32aa 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -187,6 +187,7 @@ tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
+zstd = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 48a04b28de608c..2430f1542c8bef 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -10,6 +10,7 @@
 import tqdm
 import urllib.parse
 import warnings
+import zstd
 
 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
@@ -34,8 +35,8 @@ def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=F
     ext = None
     if not dat:
       _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
-      if ext not in ('', '.bz2'):
-        # old rlogs weren't bz2 compressed
+      if ext not in ('', '.bz2', '.zst'):
+        # old rlogs weren't compressed
         raise Exception(f"unknown extension {ext}")
 
       with FileReader(fn) as f:
@@ -43,6 +44,9 @@ def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=F
 
     if ext == ".bz2" or dat.startswith(b'BZh9'):
       dat = bz2.decompress(dat)
+    elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
+      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
+      dat = zstd.decompress(dat)
 
     ents = capnp_log.Event.read_multiple_bytes(dat)
 

From f449ed144ea47d8d5f558254c9c4cf04e959fbee Mon Sep 17 00:00:00 2001
From: markalan020 <mhayescurry@outlook.com>
Date: Thu, 13 Jun 2024 03:55:52 -0400
Subject: [PATCH 006/247] Hyundai: add fwdCamera FW for Ioniq 5 2024 (US)
 (#32623)

* Update fingerprints.py

Add Support for 2024 Hyundai Ioniq 5

* docs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                          | 4 ++--
 selfdrive/car/hyundai/fingerprints.py | 1 +
 selfdrive/car/hyundai/values.py       | 4 ++--
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 3b163dcee3da69..2feabb55746034 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -91,8 +91,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index c3d3dcd0371638..b1e50f83589bfc 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -998,6 +998,7 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c489ea0042717a..b6f8da21899788 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -307,8 +307,8 @@ class CAR(Platforms):
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,

From 0319379431732ec3855fc7a60ddaa7e5ddb30def Mon Sep 17 00:00:00 2001
From: Mustafa Akcanca <MAkcanca@users.noreply.github.com>
Date: Thu, 13 Jun 2024 11:06:45 +0300
Subject: [PATCH 007/247] Hyundai docs: change Ioniq 5 Southeast Asia only to
 Non-US only (#32701)

* Update values.py

* ev6 too is probably the same

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    | 4 ++--
 selfdrive/car/hyundai/values.py | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2feabb55746034..c0b6e15468b9b3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (Non-US only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -127,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index b6f8da21899788..f34c45f7705386 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -306,7 +306,7 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
       HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
       HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
@@ -478,7 +478,7 @@ class CAR(Platforms):
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],

From 06828f1e80435fbc3a27781b096e3e2bbc86da69 Mon Sep 17 00:00:00 2001
From: Mustafa Akcanca <MAkcanca@users.noreply.github.com>
Date: Thu, 13 Jun 2024 11:08:03 +0300
Subject: [PATCH 008/247] Hyundai: add fwdCamera FW for Ioniq 5 2024 (EUR)
 (#32648)

* Update fingerprints.py

Adding FW fingerprints for Ioniq 5 2024 EU, non-HDA, fwd camera

* bump my!

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                          | 2 +-
 selfdrive/car/hyundai/fingerprints.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c0b6e15468b9b3..43bd8a8b30e414 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Non-US only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (Non-US only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index b1e50f83589bfc..e489a3cf641216 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -999,6 +999,7 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

From 4708332abee61116e13da7a4a186ca1b77511dd9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 01:39:17 -0700
Subject: [PATCH 009/247] Update docs

---
 selfdrive/car/hyundai/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f34c45f7705386..8cb29c803c5be9 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -306,7 +306,7 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
       HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
       HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],

From f08137f6182d2667803ac6e75e86fb605d0a8b1c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 13 Jun 2024 10:29:57 -0700
Subject: [PATCH 010/247] pandad: update test thresholds

---
 selfdrive/pandad/tests/test_pandad_spi.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 11e20e72ccde6c..9c5990cd3f59d6 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -84,8 +84,8 @@ def test_spi_corruption(self, subtests):
             ps = m.peripheralState
             assert ps.pandaType == "tres"
             assert 4000 < ps.voltage < 14000
-            assert 100 < ps.current < 1000
-            assert ps.fanSpeedRpm < 8000
+            assert 50 < ps.current < 1000
+            assert ps.fanSpeedRpm < 10000
 
       time.sleep(0.5)
     et = time.monotonic() - st

From 9ffd973be9bdfe1be1097f9a2618ba76991616e4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 13 Jun 2024 13:41:32 -0700
Subject: [PATCH 011/247] Separate python dep into groups (#32739)

* split

* only zstd
---
 poetry.lock    | 21 ++++++++++++---------
 pyproject.toml | 48 +++++++++++++++++++++++++++---------------------
 2 files changed, 39 insertions(+), 30 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index c5f372173cecd4..16fb764d579840 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -1074,18 +1074,18 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.14.0"
+version = "3.15.1"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.14.0-py3-none-any.whl", hash = "sha256:43339835842f110ca7ae60f1e1c160714c5a6afd15a2873419ab185334975c0f"},
-    {file = "filelock-3.14.0.tar.gz", hash = "sha256:6ea72da3be9b8c82afd3edcf99f2fffbb5076335a5ae4d03248bb5b6c3eae78a"},
+    {file = "filelock-3.15.1-py3-none-any.whl", hash = "sha256:71b3102950e91dfc1bb4209b64be4dc8854f40e5f534428d8684f953ac847fac"},
+    {file = "filelock-3.15.1.tar.gz", hash = "sha256:58a2549afdf9e02e10720eaa4d4470f56386d7a6f72edd7d0596337af8ed7ad8"},
 ]
 
 [package.extras]
 docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
-testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"]
 typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
@@ -2740,8 +2740,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
@@ -2762,8 +2762,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
@@ -2927,8 +2927,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.2", markers = "python_version == \"3.11\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
@@ -3461,6 +3461,8 @@ files = [
     {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
     {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
     {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
+    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
+    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@@ -7020,6 +7022,7 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
+    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
     {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
     {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
     {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
@@ -8107,4 +8110,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "877bf9463a547f2e1b11d057f20504459e75cf21b5f0dab341d6205a4de1f54c"
+content-hash = "51f233c6af3795be4fd3f54b7b462777bc65f547de0821c0de7ac0c3c056b0a6"
diff --git a/pyproject.toml b/pyproject.toml
index edc515771a32aa..e46f7d51a25b75 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -139,55 +139,61 @@ psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
+[tool.poetry.group.docs.dependencies]
+Jinja2 = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+
+[tool.poetry.group.testing.dependencies]
+coverage = "*"
+hypothesis = "~6.47"
+mypy = "*"
+pre-commit = "*"
+pytest = "*"
+pytest-cov = "*"
+pytest-cpp = "*"
+pytest-subtests = "*"
+pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
+pytest-repeat = "*"
+ruff = "*"
+
+[tool.poetry.group.tools.dependencies]
+zstd = "*"
+
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
 control = "*"
-coverage = "*"
 dictdiffer = "*"
 flaky = "*"
-hypothesis = "~6.47"
 inputs = "*"
-Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
 metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
-mypy = "*"
 myst-parser = "*"
 natsort = "*"
 opencv-python-headless = "*"
 parameterized = "^0.8"
 #pprofile = "*"
 polyline = "*"
-pre-commit = "*"
 pyautogui = "*"
-pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
 pygame = "*"
+pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
 pywinctl = "*"
 pyprof2calltree = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
 rerun-sdk = "*"
-ruff = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
 tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
-zstd = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

From 6552d4ecb87211b91310ca5d7a7bcb918df36021 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 13 Jun 2024 14:46:19 -0700
Subject: [PATCH 012/247] Move zstd to normal deps (#32741)

move zstd
---
 poetry.lock    | 2 +-
 pyproject.toml | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 16fb764d579840..2467d6be2d78af 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -8110,4 +8110,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "51f233c6af3795be4fd3f54b7b462777bc65f547de0821c0de7ac0c3c056b0a6"
+content-hash = "83dbbf76ea5f3e1022233a164d6f342706ebf64ad8bbbf742a55d5f49474d863"
diff --git a/pyproject.toml b/pyproject.toml
index e46f7d51a25b75..5353b3988769f0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -139,6 +139,9 @@ psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
+#logreader
+zstd = "*"
+
 [tool.poetry.group.docs.dependencies]
 Jinja2 = "*"
 sphinx = "*"
@@ -162,9 +165,6 @@ pytest-mock = "*"
 pytest-repeat = "*"
 ruff = "*"
 
-[tool.poetry.group.tools.dependencies]
-zstd = "*"
-
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"

From 3ede1e2a7c850622beef2549315f320aa018105a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 22:37:00 -0700
Subject: [PATCH 013/247] LogReader: improve error messages (#32747)

* better error messages

* clean up
---
 tools/lib/logreader.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2430f1542c8bef..737ef461520f48 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -166,7 +166,8 @@ def get_invalid_files(files):
 
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
-  assert next(get_invalid_files(files), False) is False
+  assert len(files) > 0, "No files on source"
+  assert not any(get_invalid_files(files)), f"Invalid files: {files}"
   return files
 
 
@@ -175,7 +176,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
     return comma_car_segments_source(sr, mode)
 
   SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
-  exceptions = []
+  exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
   if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
@@ -190,9 +191,10 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
     try:
       return check_source(source, sr, mode)
     except Exception as e:
-      exceptions.append(e)
+      exceptions[source.__name__] = e
 
-  raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
+  raise Exception("auto_source could not find any valid source, exceptions for sources:\n  - " +
+                  "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
 def parse_useradmin(identifier: str):

From a0bbc005b62f1e6183ce4fd167e78b4fedb06df0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 22:43:24 -0700
Subject: [PATCH 014/247] LogReader: support reading zst logs from Azure
 (#32745)

* staging api

* other stuff

* ugh this should really not be duplicated, we already check the max segnum in Route class

* better error message!!

* more better

* clean up

* clean up

* breaks again
---
 tools/lib/route.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/route.py b/tools/lib/route.py
index d5fd41108b76b3..5734d1c74a6101 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -9,7 +9,7 @@
 from openpilot.tools.lib.api import CommaApi
 from openpilot.tools.lib.helpers import RE
 
-QLOG_FILENAMES = ['qlog', 'qlog.bz2']
+QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
 LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']

From d5ce4b308588f2bd4eee300110ddcd66e787a110 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 23:19:32 -0700
Subject: [PATCH 015/247] SegmentRange: remove timestamp (#32750)

* add deprecation warning

* remove timestamp

* Update logreader.py
---
 tools/lib/logreader.py | 2 +-
 tools/lib/route.py     | 4 ----
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 737ef461520f48..0f7ae0dba1bbde 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -135,7 +135,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
     raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2"
 
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 5734d1c74a6101..6ff5d19208fd0e 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -260,10 +260,6 @@ def route_name(self) -> str:
   def dongle_id(self) -> str:
     return self.m.group("dongle_id")
 
-  @property
-  def timestamp(self) -> str:
-    return self.m.group("timestamp")
-
   @property
   def log_id(self) -> str:
     return self.m.group("log_id")

From 38529c5057a6146768a71654a05e5c552695d805 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 14 Jun 2024 14:38:02 +0800
Subject: [PATCH 016/247] cabana: Fix visibility issue for a single data point
 in series (#32749)

Fix visibility issue for a single data point in series
---
 tools/cabana/chart/chart.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index fcf171a858923a..c8537845b164ff 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -277,7 +277,7 @@ void ChartView::updateSeriesPoints() {
         }
         ((QScatterSeries *)s.series)->setMarkerSize(size);
       } else {
-        s.series->setPointsVisible(pixels_per_point > 20);
+        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
       }
     }
   }

From bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 14 Jun 2024 00:08:58 -0700
Subject: [PATCH 017/247] long control: new API (#32706)

* Simplify long control

* Seperate

* Rename

* Try new api for toyota

* rm v_pid everywhere

* No speed in reset

* 0 is better default

* unassigned variable

* Update other cars

* Update gm

* SIMPLIFY

* simplify more

* fix API boundry

* Fix stopping bug

* Small fixes

* Update ref
---
 cereal/car.capnp                              |  4 +-
 cereal/log.capnp                              |  8 +-
 selfdrive/car/ford/interface.py               |  4 -
 selfdrive/car/gm/interface.py                 | 12 +--
 selfdrive/car/honda/interface.py              |  8 +-
 selfdrive/car/hyundai/interface.py            |  4 -
 selfdrive/car/interfaces.py                   |  6 +-
 selfdrive/car/subaru/interface.py             |  5 --
 selfdrive/car/tesla/interface.py              |  5 --
 selfdrive/car/tests/test_car_interfaces.py    |  1 -
 selfdrive/car/toyota/interface.py             | 21 ++---
 selfdrive/car/volkswagen/interface.py         |  2 -
 selfdrive/controls/controlsd.py               |  6 +-
 selfdrive/controls/lib/drive_helpers.py       | 10 ---
 selfdrive/controls/lib/longcontrol.py         | 78 +++++--------------
 .../controls/lib/longitudinal_planner.py      | 33 +++++++-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 tools/replay/ui.py                            |  1 -
 18 files changed, 74 insertions(+), 136 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 7f3f64c911eddb..c17e1c063fc3b8 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -541,8 +541,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
   }
 
   struct LateralINDITuning {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 67c6f836a49927..3c720d45261cb7 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vPid @2 :Float32;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
   vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
+  vPidDEPRECATED @2 :Float32;
 }
 
 # All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
+  aTarget @18 :Float32;
+  shouldStop @37: Bool;
+  allowThrottle @38: Bool;
+  allowBrake @39: Bool;
+
 
   solverExecutionTime @35 :Float32;
 
@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   aCruiseDEPRECATED @17 :Float32;
   vTargetDEPRECATED @3 :Float32;
   vTargetFutureDEPRECATED @14 :Float32;
-  aTargetDEPRECATED @18 :Float32;
   vStartDEPRECATED @26 :Float32;
   aStartDEPRECATED @27 :Float32;
   vMaxDEPRECATED @20 :Float32;
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 2ef5d427e6fdb6..54cf865109b03c 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -22,10 +22,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2e194b12f2fa90..5ea2b198916d2b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -94,11 +94,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiBP = [5., 35.]
 
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
@@ -110,8 +106,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [2.0, 1.5]
-      ret.longitudinalTuning.kiV = [0.72]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -131,8 +126,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kpV = [2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.36]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]
 
     # 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
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 43a4454b90ab4d..fdcba8bb81234b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -72,17 +72,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalTuning.kpV = [0.25]
-      ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kiBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
 
     eps_modified = False
     for fw in car_fw:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 0ba4dcb5e3766b..ecedf3fd7c447e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -80,12 +80,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.longitudinalTuning.kpV = [0.1]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
-      ret.longitudinalTuning.kpV = [0.5]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5eac6062aa53cf..e5762ed52aaa78 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -202,13 +202,11 @@ def get_std_params(candidate):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
     ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalTuning.kiV = [0.]
     # TODO estimate car specific lag, use .15s for now
     ret.longitudinalActuatorDelay = 0.15
     ret.steerLimitTimer = 1.0
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 1aa4bd95eaad4f..cb0093437621e5 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -91,11 +91,6 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
-
       ret.stoppingControl = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 09de10b54d6caf..deb0e00230a1b8 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -18,11 +18,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
-    ret.longitudinalTuning.kpBP = [0]
-    ret.longitudinalTuning.kpV = [0]
-    ret.longitudinalTuning.kiBP = [0]
-    ret.longitudinalTuning.kiV = [0]
     ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 19096c23e5505d..a6f74d685f2db5 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -75,7 +75,6 @@ def test_car_interfaces(self, car_name, data):
     # Longitudinal sanity checks
     assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
     assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)
 
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3ea05f9fef57b9..98f63597ec083c 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -142,22 +142,15 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
 
     tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
-      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      tune.kpV = [0.0]
+      tune.kiV = [0.5]
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+      tune.kiBP = [0., 5., 35.]
+      tune.kiV = [3.6, 2.4, 1.5]
 
     return ret
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 91cd300e9220b2..77e56875bf2490 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -96,8 +96,6 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
     ret.stopAccel = -0.55
     ret.vEgoStarting = 0.1
     ret.vEgoStopping = 0.5
-    ret.longitudinalTuning.kpV = [0.1]
-    ret.longitudinalTuning.kiV = [0.0]
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
     return ret
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index aeeb3489b51481..f147766c91ed73 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -563,13 +563,12 @@ def state_control(self, CS):
     if not CC.latActive:
       self.LaC.reset()
     if not CC.longActive:
-      self.LoC.reset(v_pid=CS.vEgo)
+      self.LoC.reset()
 
     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.recv_frame['longitudinalPlan']) * DT_CTRL
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
       self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
@@ -752,7 +751,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 6a5b22f6868726..cfc6374a1d1faf 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -141,16 +141,6 @@ def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
 
-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
 def apply_center_deadzone(error, deadzone):
   if (error > - deadzone) and (error < deadzone):
     error = 0.
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index a619c47634cd11..e4841c705f1dd0 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -10,18 +10,10 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
-                             v_target_1sec, brake_pressed, cruise_standstill):
-  accelerating = v_target_1sec > v_target
-  planned_stop = (v_target < CP.vEgoStopping and
-                  v_target_1sec < CP.vEgoStopping and
-                  not accelerating)
-  stay_stopped = (v_ego < CP.vEgoStopping and
-                  (brake_pressed or cruise_standstill))
-  stopping_condition = planned_stop or stay_stopped
-
-  starting_condition = (v_target_1sec > CP.vEgoStarting and
-                        accelerating and
+def long_control_state_trans(CP, active, long_control_state, v_ego,
+                             should_stop, brake_pressed, cruise_standstill):
+  stopping_condition = should_stop
+  starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
   started_condition = v_ego > CP.vEgoStarting
@@ -34,7 +26,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
       long_control_state = LongCtrlState.pid
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
-
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
         long_control_state = LongCtrlState.starting
@@ -49,78 +40,45 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
 
   return long_control_state
 
-
 class LongControl:
   def __init__(self, CP):
     self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
-    self.v_pid = 0.0
     self.last_output_accel = 0.0
 
-  def reset(self, v_pid):
-    """Reset PID controller and change setpoint"""
+  def reset(self):
     self.pid.reset()
-    self.v_pid = v_pid
 
-  def update(self, active, CS, long_plan, accel_limits, t_since_plan):
+  def update(self, active, CS, a_target, should_stop, accel_limits):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
-    # Interp control trajectory
-    speeds = long_plan.speeds
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
-
-      v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now
-
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target, v_target_1sec, CS.brakePressed,
+                                                       should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
-
     if self.long_control_state == LongCtrlState.off:
-      self.reset(CS.vEgo)
+      self.reset()
       output_accel = 0.
 
     elif self.long_control_state == LongCtrlState.stopping:
+      output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      self.reset(CS.vEgo)
+      self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
       output_accel = self.CP.startAccel
-      self.reset(CS.vEgo)
-
-    elif self.long_control_state == LongCtrlState.pid:
-      self.v_pid = v_target_now
+      self.reset()
 
-      # Toyota starts braking more when it thinks you want to stop
-      # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      # TODO too complex, needs to be simplified and tested on toyotas
-      prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
-      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
-      freeze_integrator = prevent_overshoot
-
-      error = self.v_pid - CS.vEgo
-      error_deadzone = apply_deadzone(error, deadzone)
-      output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
-                                     feedforward=a_target,
-                                     freeze_integrator=freeze_integrator)
+    else:  # LongCtrlState.pid
+      error = a_target - CS.aEgo
+      output_accel = self.pid.update(error, speed=CS.vEgo,
+                                     feedforward=a_target)
 
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-
     return self.last_output_accel
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index ff5f901b52433f..8772fadb472b2f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,6 +19,7 @@
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -34,7 +35,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
   this should avoid accelerating when losing the target in turns
   """
-
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
   a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
@@ -44,6 +44,26 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+def get_accel_from_plan(CP, long_plan):
+    speeds = long_plan.speeds
+    if len(speeds) == CONTROL_N:
+      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
+
+      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+
+      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+    else:
+      v_target = 0.0
+      v_target_now = 0.0
+      v_target_1sec = 0.0
+      a_target = 0.0
+    should_stop = (v_target < CP.vEgoStopping and
+                    v_target_1sec < CP.vEgoStopping)
+    return a_target, should_stop
+
+
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
@@ -142,9 +162,14 @@ def publish(self, sm, pm):
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
+
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
 
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
@@ -154,6 +179,10 @@ def publish(self, sm, pm):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 227202839ffb7a..96161a42de6f00 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6438bd5edad674c2de3c7e2d126271cb2576383d
+8737e368e17f859291164286feb4246e00c0b4a5
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index a790f14ff0ef6e..b1fe70ef3cb365 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -158,7 +158,6 @@ def ui_thread(addr):
     # TODO brake is deprecated
     plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 

From 68e22faa296d335f2d497c52339f536f761602c3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Jun 2024 00:29:59 -0700
Subject: [PATCH 018/247] LogReader: revert broken check

it returns files OR None
---
 tools/lib/logreader.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 0f7ae0dba1bbde..e524a152fb308b 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -167,7 +167,7 @@ def get_invalid_files(files):
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
   assert len(files) > 0, "No files on source"
-  assert not any(get_invalid_files(files)), f"Invalid files: {files}"
+  assert next(get_invalid_files(files), False) is False, "Some files are invalid"
   return files
 
 

From b45caf403366ed4161516e49b9e433805d9de6c4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Jun 2024 01:12:19 -0700
Subject: [PATCH 019/247] LogReader: try zst on internal source (#32751)

* internal source list files like azure api

* messy but works

* no limit

* simpler

* clean up

* clean up

* clean up

* that's obvious

* better

* we need to unfortunately return a url, so best to take a naive approach for now

* todo

* fix

* clean up
---
 tools/lib/logreader.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index e524a152fb308b..98c10941bb96a1 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -130,12 +130,12 @@ def valid_file(fn):
   return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
 
 
-def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
   if not internal_source_available():
     raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
 
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
@@ -143,6 +143,10 @@ def get_internal_url(sr: SegmentRange, seg, file):
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
+def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths:
+  return internal_source(sr, mode, file_ext)
+
+
 def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
@@ -175,7 +179,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source

From 02ed9c584c7d04d53d3c0f0955e95ab2a58de5de Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 16 Jun 2024 12:20:15 -0700
Subject: [PATCH 020/247] sim: remove docker script

---
 tools/sim/start_openpilot_docker.sh | 37 -----------------------------
 1 file changed, 37 deletions(-)
 delete mode 100755 tools/sim/start_openpilot_docker.sh

diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
deleted file mode 100755
index 3dce6605795750..00000000000000
--- a/tools/sim/start_openpilot_docker.sh
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/bin/bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-OPENPILOT_DIR="/tmp/openpilot"
-if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
-  OPENPILOT_DIR="$(dirname $(dirname $DIR))"
-  EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
-fi
-
-if [[ "$CI" ]]; then
-  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
-else
-  # expose X to the container
-  xhost +local:root
-
-  docker pull ghcr.io/commaai/openpilot-sim:latest
-  CMD="./tmux_script.sh $*"
-  EXTRA_ARGS="${EXTRA_ARGS} -it"
-fi
-
-docker kill openpilot_client || true
-docker run --net=host\
-  --name openpilot_client \
-  --rm \
-  --gpus all \
-  --device=/dev/dri:/dev/dri \
-  --device=/dev/input:/dev/input \
-  -v /tmp/.X11-unix:/tmp/.X11-unix \
-  --shm-size 1G \
-  -e DISPLAY=$DISPLAY \
-  -e QT_X11_NO_MITSHM=1 \
-  -w "$OPENPILOT_DIR/tools/sim" \
-  $EXTRA_ARGS \
-  ghcr.io/commaai/openpilot-sim:latest \
-  /bin/bash -c "$CMD"

From 865b98a5c45335dcdf736ab38e89b5a1dcde2d59 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 17 Jun 2024 03:32:45 +0800
Subject: [PATCH 021/247] cabana: avoid dead locks and improve responsiveness
 (#32740)

avoid dead locks and improve responsive
---
 tools/cabana/chart/chart.cc            |  2 +-
 tools/cabana/chart/chartswidget.cc     | 24 ++++---
 tools/cabana/chart/chartswidget.h      | 16 ++---
 tools/cabana/mainwin.cc                |  1 -
 tools/cabana/streams/abstractstream.cc | 22 ++++++-
 tools/cabana/streams/abstractstream.h  |  8 ++-
 tools/cabana/streams/replaystream.cc   |  7 +-
 tools/cabana/streams/replaystream.h    |  3 -
 tools/cabana/videowidget.cc            | 23 ++++---
 tools/cabana/videowidget.h             |  8 +--
 tools/replay/camera.cc                 |  1 -
 tools/replay/logreader.cc              |  6 +-
 tools/replay/replay.cc                 | 88 +++++++++++++++-----------
 tools/replay/replay.h                  | 11 ++--
 tools/replay/util.cc                   | 36 ++++-------
 tools/replay/util.h                    |  2 +-
 16 files changed, 135 insertions(+), 123 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index c8537845b164ff..7a056c7674527b 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -513,7 +513,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
+      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
     } else {
       viewport()->update();
     }
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index a7bdd746465ec9..59c188afbcdad8 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -103,6 +103,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &ChartsWidget::timeRangeChanged);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -159,16 +161,13 @@ void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
   }
 }
 
-void ChartsWidget::setZoom(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
+void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   updateToolBar();
   updateState();
-  emit rangeChanged(min, max, is_zoomed);
 }
 
 void ChartsWidget::zoomReset() {
-  setZoom(display_range.first, display_range.second);
+  can->setTimeRange(std::nullopt);
   zoom_undo_stack->clear();
 }
 
@@ -186,8 +185,9 @@ void ChartsWidget::showValueTip(double sec) {
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
+  const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
-  if (!is_zoomed) {
+  if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
@@ -195,13 +195,9 @@ void ChartsWidget::updateState() {
     double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
-  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
-    // loop in zoomed range
-    QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
-    return;
   }
 
-  const auto &range = is_zoomed ? zoomed_range : display_range;
+  const auto &range = time_range ? *time_range : display_range;
   for (auto c : charts) {
     c->updatePlot(cur_sec, range.first, range.second);
   }
@@ -217,12 +213,14 @@ void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
+
+  bool is_zoomed = can->timeRange().has_value();
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -252,7 +250,7 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
 }
 
 ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  auto chart = new ChartView(can->timeRange().value_or(display_range), this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a39b4d73a59bf6..a9ac05db23ec29 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -46,11 +46,10 @@ class ChartsWidget : public QFrame {
 public slots:
   void setColumnCount(int n);
   void removeAll();
-  void setZoom(double min, double max);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
 
 signals:
   void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
   void seriesChanged();
 
 private:
@@ -102,9 +101,7 @@ public slots:
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
-  bool is_zoomed = false;
   std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
@@ -119,12 +116,11 @@ public slots:
 
 class ZoomCommand : public QUndoCommand {
 public:
-  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
-    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+    prev_range = can->timeRange();
     setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
-  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
-  void redo() override { charts->setZoom(range.first, range.second); }
-  ChartsWidget *charts;
-  std::pair<double, double> prev_range, range;
+  void undo() override { can->setTimeRange(prev_range); }
+  void redo() override { can->setTimeRange(range); }
+  std::optional<std::pair<double, double>> prev_range, range;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index e6c9b49ca17a0c..d099fcec9955b3 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -192,7 +192,6 @@ void MainWindow::createDockWidgets() {
   video_splitter = new QSplitter(Qt::Vertical, this);
   video_widget = new VideoWidget(this);
   video_splitter->addWidget(video_widget);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2e6ca9662e237a..2584106ce4848b 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -92,13 +92,23 @@ void AbstractStream::updateLastMessages() {
   std::set<MessageId> msgs;
   {
     std::lock_guard lk(mutex_);
+    double max_sec = 0;
     for (const auto &id : new_msgs_) {
       const auto &can_data = messages_[id];
-      current_sec_ = std::max(current_sec_, can_data.ts);
+      max_sec = std::max(max_sec, can_data.ts);
       last_msgs[id] = can_data;
       sources.insert(id.source);
     }
-    msgs = std::move(new_msgs_);
+
+    if (!new_msgs_.empty()) {
+      msgs = std::move(new_msgs_);
+      current_sec_ = max_sec;
+    }
+  }
+
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+    return;
   }
 
   if (sources.size() != prev_src_size) {
@@ -108,6 +118,14 @@ void AbstractStream::updateLastMessages() {
   emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
+void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
+  time_range_ = range;
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+  }
+  emit timeRangeChanged(time_range_);
+}
+
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
   std::lock_guard lk(mutex_);
   messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index cfd423b36819fe..822dd03d8478b3 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -3,8 +3,10 @@
 #include <array>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <set>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <QColor>
@@ -77,6 +79,8 @@ class AbstractStream : public QObject {
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
+  void setTimeRange(const std::optional<std::pair<double, double>> &range);
+  const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
@@ -91,8 +95,9 @@ class AbstractStream : public QObject {
 signals:
   void paused();
   void resume();
-  void seekingTo(double sec);
+  void seeking(double sec);
   void seekedTo(double sec);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
   void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
@@ -110,6 +115,7 @@ class AbstractStream : public QObject {
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
+  std::optional<std::pair<double, double>> time_range_;
   uint64_t lastest_event_ts = 0;
 
 private:
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 5fda6b04870f6c..5d4925a67ac84e 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,9 +53,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                           {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
+  QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
   return replay->load();
 }
 
@@ -92,12 +92,7 @@ bool ReplayStream::eventFilter(const Event *event) {
 }
 
 void ReplayStream::seekTo(double ts) {
-  // Update timestamp and notify receivers of the time change.
   current_sec_ = ts;
-  std::set<MessageId> new_msgs;
-  msgsReceived(&new_msgs, false);
-
-  // Seek to the specified timestamp
   replay->seekTo(std::max(double(0), ts), false);
 }
 
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 049ccddafb7756..ced78680d1e155 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -34,9 +34,6 @@ class ReplayStream : public AbstractStream {
   void pause(bool pause) override;
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
-signals:
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
-
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7fca45c3936dea..d2f78babc19060 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -38,6 +38,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &VideoWidget::timeRangeChanged);
 
   updatePlayBtnState();
   setWhatsThis(tr(R"(
@@ -150,14 +152,16 @@ QWidget *VideoWidget::createCameraWidget() {
 
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
+
+  auto replay = static_cast<ReplayStream*>(can)->getReplay();
+  QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   return w;
 }
 
@@ -198,13 +202,13 @@ void VideoWidget::setMaximumTime(double sec) {
   slider->setTimeRange(0, sec);
 }
 
-void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
+void VideoWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!is_zoomed);
+    skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
-  is_zoomed ? slider->setTimeRange(min, max)
-            : slider->setTimeRange(0, maximum_time);
+  time_range ? slider->setTimeRange(time_range->first, time_range->second)
+             : slider->setTimeRange(0, maximum_time);
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -255,12 +259,7 @@ void Slider::setTimeRange(double min, double max) {
   setRange(min * factor, max * factor);
 }
 
-void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
- const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
-  if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
-    emit updateMaximumTime(qlog->events.back().mono_time / 1e9 - can->routeStartTime());
-  }
-
+void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
   QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
     if (e.which == cereal::Event::Which::THUMBNAIL) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index b2039e09a46324..7bd55cbce4103d 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -3,6 +3,7 @@
 #include <map>
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
@@ -40,13 +41,10 @@ class Slider : public QSlider {
   void setTimeRange(double min, double max);
   AlertInfo alertInfo(double sec);
   QPixmap thumbnail(double sec);
-  void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
+  void parseQLog(std::shared_ptr<LogReader> qlog);
 
   const double factor = 1000.0;
 
-signals:
-  void updateMaximumTime(double);
-
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -63,11 +61,11 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void updateTimeRange(double min, double max, bool is_zommed);
   void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 9e711149c5eff4..b6d4ddc3a29c90 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -60,7 +60,6 @@ void CameraServer::cameraThread(Camera &cam) {
     capnp::FlatArrayMessageReader reader(event->data);
     auto evt = reader.getRoot<cereal::Event>();
     auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-    if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
     int segment_id = eidx.getSegmentId();
     uint32_t frame_id = eidx.getFrameId();
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 0f1638145fd424..9b726e067d8515 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -42,10 +42,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-        if (uint64_t sof = idx.getTimestampSof()) {
-          mono_time = sof;
+        if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+          uint64_t sof = idx.getTimestampSof();
+          events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
-        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
       }
     }
   } catch (const kj::Exception &e) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 8616437188afa0..c5ad2aa5488b9b 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -55,11 +55,11 @@ void Replay::stop() {
   rInfo("shutdown: in progress...");
   if (stream_thread_ != nullptr) {
     exit_ = true;
-    paused_ = true;
+    pauseStreamThread();
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
-    delete stream_thread_;
+    stream_thread_->deleteLater();
     stream_thread_ = nullptr;
   }
   timeline_future.waitForFinished();
@@ -104,28 +104,40 @@ void Replay::updateEvents(const std::function<bool()> &update_events_function) {
 
 void Replay::seekTo(double seconds, bool relative) {
   updateEvents([&]() {
-    seeking_to_seconds_ = relative ? seconds + currentSeconds() : seconds;
-    seeking_to_seconds_ = std::max(double(0.0), seeking_to_seconds_);
-    int target_segment = (int)seeking_to_seconds_ / 60;
+    double target_time = relative ? seconds + currentSeconds() : seconds;
+    target_time = std::max(double(0.0), target_time);
+    int target_segment = (int)target_time / 60;
     if (segments_.count(target_segment) == 0) {
-      rWarning("can't seek to %d s segment %d is invalid", (int)seeking_to_seconds_, target_segment);
+      rWarning("Can't seek to %d s segment %d is invalid", (int)target_time, target_segment);
       return true;
     }
 
-    rInfo("seeking to %d s, segment %d", (int)seeking_to_seconds_, target_segment);
+    rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
     current_segment_ = target_segment;
-    cur_mono_time_ = route_start_ts_ + seeking_to_seconds_ * 1e9;
-    bool segment_merged = isSegmentMerged(target_segment);
-    if (segment_merged) {
-      emit seekedTo(seeking_to_seconds_);
-      // Reset seeking_to_seconds_ to indicate completion of seek
-      seeking_to_seconds_ = -1;
-    }
-    return segment_merged;
+    cur_mono_time_ = route_start_ts_ + target_time * 1e9;
+    seeking_to_ = target_time;
+    return false;
   });
+
+  checkSeekProgress();
   updateSegmentsCache();
 }
 
+void Replay::checkSeekProgress() {
+  if (seeking_to_) {
+    auto it = segments_.find(int(*seeking_to_ / 60));
+    if (it != segments_.end() && it->second && it->second->isLoaded()) {
+      emit seekedTo(*seeking_to_);
+      seeking_to_ = std::nullopt;
+      // wake up stream thread
+      updateEvents([]() { return true; });
+    } else {
+      // Emit signal indicating the ongoing seek operation
+      emit seeking(*seeking_to_);
+    }
+  }
+}
+
 void Replay::seekToFlag(FindFlag flag) {
   if (auto next = find(flag)) {
     seekTo(*next - 2, false);  // seek to 2 seconds before next
@@ -150,8 +162,9 @@ void Replay::buildTimeline() {
   const auto &route_segments = route_->segments();
   for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
     std::shared_ptr<LogReader> log(new LogReader());
-    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
+    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
 
+    std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
       if (e.which == cereal::Event::Which::CONTROLS_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
@@ -160,7 +173,6 @@ void Replay::buildTimeline() {
 
         if (engaged != cs.getEnabled()) {
           if (engaged) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
           }
           engaged_begin = e.mono_time;
@@ -169,7 +181,6 @@ void Replay::buildTimeline() {
 
         if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
           if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
           }
           alert_begin = e.mono_time;
@@ -178,12 +189,20 @@ void Replay::buildTimeline() {
           alert_status = cs.getAlertStatus();
         }
       } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        std::lock_guard lk(timeline_lock);
         timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
       }
     }
-    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
-    emit qLogLoaded(it->first, log);
+
+    {
+      std::lock_guard lk(timeline_lock);
+      timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
+      std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
+    }
+
+    if (it->first == route_segments.rbegin()->first) {
+      emit totalSecondsUpdated(toSeconds(log->events.back().mono_time));
+    }
+    emit qLogLoaded(log);
   }
 }
 
@@ -260,14 +279,13 @@ void Replay::updateSegmentsCache() {
   const auto &cur_segment = cur->second;
   if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
     startStream(cur_segment.get());
-    emit streamStarted();
   }
 }
 
 void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
-  auto loadNext = [this](auto begin, auto end) {
-    auto it = std::find_if(begin, end, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
-    if (it != end && !it->second) {
+  auto loadNextSegment = [this](auto first, auto last) {
+    auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
+    if (it != last && !it->second) {
       rDebug("loading segment %d...", it->first);
       it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
       QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
@@ -276,9 +294,9 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator
     return false;
   };
 
-  // Load forward segments, then try reverse
-  if (!loadNext(cur, end)) {
-    loadNext(std::make_reverse_iterator(cur), segments_.rend());
+  // Try loading forward segments, then reverse segments
+  if (!loadNextSegment(cur, end)) {
+    loadNextSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
   }
 }
 
@@ -316,15 +334,10 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
   updateEvents([&]() {
     events_.swap(new_events);
     merged_segments_ = segments_to_merge;
-    // Check if seeking is in progress
-    int target_segment = int(seeking_to_seconds_ / 60);
-    if (seeking_to_seconds_ >= 0 && segments_to_merge.count(target_segment) > 0) {
-      emit seekedTo(seeking_to_seconds_);
-      seeking_to_seconds_ = -1;  // Reset seeking_to_seconds_ to indicate completion of seek
-    }
     // Wake up the stream thread if the current segment is loaded or invalid.
-    return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
+    return !seeking_to_ && (isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0));
   });
+  checkSeekProgress();
 }
 
 void Replay::startStream(const Segment *cur_segment) {
@@ -379,6 +392,7 @@ void Replay::startStream(const Segment *cur_segment) {
   stream_thread_->start();
 
   timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
+  emit streamStarted();
 }
 
 void Replay::publishMessage(const Event *e) {
@@ -473,6 +487,7 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
      // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
+    cur_mono_time_ = evt.mono_time;
     const uint64_t current_nanos = nanos_since_boot();
     const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
 
@@ -484,12 +499,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
     } else if (time_diff > 0) {
-      precise_nano_sleep(time_diff);
+      precise_nano_sleep(time_diff, paused_);
     }
 
     if (paused_) break;
 
-    cur_mono_time_ = evt.mono_time;
     if (evt.eidx_segnum == -1) {
       publishMessage(&evt);
     } else if (camera_server_) {
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 4adbc14df8558d..8b51ab054d06db 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -85,14 +85,16 @@ class Replay : public QObject {
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
-    return timeline;
+    return timeline_;
   }
 
 signals:
   void streamStarted();
   void segmentsMerged();
+  void seeking(double sec);
   void seekedTo(double sec);
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
+  void qLogLoaded(std::shared_ptr<LogReader> qlog);
+  void totalSecondsUpdated(double sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -112,6 +114,7 @@ protected slots:
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void buildTimeline();
+  void checkSeekProgress();
   inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
 
   pthread_t stream_thread_id = 0;
@@ -120,7 +123,7 @@ protected slots:
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
   std::atomic<int> current_segment_ = 0;
-  double seeking_to_seconds_ = -1;
+  std::optional<double> seeking_to_;
   SegmentMap segments_;
   // the following variables must be protected with stream_lock_
   std::atomic<bool> exit_ = false;
@@ -143,7 +146,7 @@ protected slots:
 
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
-  std::vector<std::tuple<double, double, TimelineType>> timeline;
+  std::vector<std::tuple<double, double, TimelineType>> timeline_;
   std::string car_fingerprint_;
   std::atomic<float> speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index c8203fd79d815a..a08b3b3d5eab72 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -318,33 +318,23 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
-void precise_nano_sleep(int64_t nanoseconds) {
-#ifdef __APPLE__
-  const long estimate_ns = 1 * 1e6;  // 1ms
-  struct timespec req = {.tv_nsec = estimate_ns};
-  uint64_t start_sleep = nanos_since_boot();
-  while (nanoseconds > estimate_ns) {
-    nanosleep(&req, nullptr);
-    uint64_t end_sleep = nanos_since_boot();
-    nanoseconds -= (end_sleep - start_sleep);
-    start_sleep = end_sleep;
-  }
-  // spin wait
-  if (nanoseconds > 0) {
-    while ((nanos_since_boot() - start_sleep) <= nanoseconds) {
-      std::this_thread::yield();
-    }
-  }
-#else
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   struct timespec req, rem;
-
-  req.tv_sec = nanoseconds / 1e9;
-  req.tv_nsec = nanoseconds % (int64_t)1e9;
-  while (clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem) && errno == EINTR) {
+  req.tv_sec = nanoseconds / 1000000000;
+  req.tv_nsec = nanoseconds % 1000000000;
+  while (!should_exit) {
+#ifdef __APPLE_
+    int ret = nanosleep(&req, &rem);
+    if (ret == 0 || errno != EINTR)
+      break;
+#else
+    int ret = clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem);
+    if (ret == 0 || ret != EINTR)
+      break;
+#endif
     // Retry sleep if interrupted by a signal
     req = rem;
   }
-#endif
 }
 
 std::string sha256(const std::string &str) {
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 750c13355520aa..97516e18147600 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -37,7 +37,7 @@ class MonotonicBuffer {
 };
 
 std::string sha256(const std::string &str);
-void precise_nano_sleep(int64_t nanoseconds);
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);

From b99fe718ecfbc6044cb5fa53f34e077b9d9a2a4f Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 17 Jun 2024 09:26:22 -0700
Subject: [PATCH 022/247] [bot] Update Python packages and pre-commit hooks
 (#32770)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |  4 +--
 poetry.lock             | 56 ++++++++++++++++++++++-------------------
 2 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 61b78236449c37..d47630cdad8019 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
+    rev: v0.4.9
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.28.5
     hooks:
     -   id: check-github-workflows
diff --git a/poetry.lock b/poetry.lock
index 2467d6be2d78af..13d082763cc7df 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -7219,28 +7219,28 @@ docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.4.8"
+version = "0.4.9"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "ruff-0.4.8-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:7663a6d78f6adb0eab270fa9cf1ff2d28618ca3a652b60f2a234d92b9ec89066"},
-    {file = "ruff-0.4.8-py3-none-macosx_11_0_arm64.whl", hash = "sha256:eeceb78da8afb6de0ddada93112869852d04f1cd0f6b80fe464fd4e35c330913"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aad360893e92486662ef3be0a339c5ca3c1b109e0134fcd37d534d4be9fb8de3"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:284c2e3f3396fb05f5f803c9fffb53ebbe09a3ebe7dda2929ed8d73ded736deb"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a7354f921e3fbe04d2a62d46707e569f9315e1a613307f7311a935743c51a764"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:72584676164e15a68a15778fd1b17c28a519e7a0622161eb2debdcdabdc71883"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9678d5c9b43315f323af2233a04d747409d1e3aa6789620083a82d1066a35199"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704977a658131651a22b5ebeb28b717ef42ac6ee3b11e91dc87b633b5d83142b"},
-    {file = "ruff-0.4.8-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d05f8d6f0c3cce5026cecd83b7a143dcad503045857bc49662f736437380ad45"},
-    {file = "ruff-0.4.8-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:6ea874950daca5697309d976c9afba830d3bf0ed66887481d6bca1673fc5b66a"},
-    {file = "ruff-0.4.8-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:fc95aac2943ddf360376be9aa3107c8cf9640083940a8c5bd824be692d2216dc"},
-    {file = "ruff-0.4.8-py3-none-musllinux_1_2_i686.whl", hash = "sha256:384154a1c3f4bf537bac69f33720957ee49ac8d484bfc91720cc94172026ceed"},
-    {file = "ruff-0.4.8-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:e9d5ce97cacc99878aa0d084c626a15cd21e6b3d53fd6f9112b7fc485918e1fa"},
-    {file = "ruff-0.4.8-py3-none-win32.whl", hash = "sha256:6d795d7639212c2dfd01991259460101c22aabf420d9b943f153ab9d9706e6a9"},
-    {file = "ruff-0.4.8-py3-none-win_amd64.whl", hash = "sha256:e14a3a095d07560a9d6769a72f781d73259655919d9b396c650fc98a8157555d"},
-    {file = "ruff-0.4.8-py3-none-win_arm64.whl", hash = "sha256:14019a06dbe29b608f6b7cbcec300e3170a8d86efaddb7b23405cb7f7dcaf780"},
-    {file = "ruff-0.4.8.tar.gz", hash = "sha256:16d717b1d57b2e2fd68bd0bf80fb43931b79d05a7131aa477d66fc40fbd86268"},
+    {file = "ruff-0.4.9-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:b262ed08d036ebe162123170b35703aaf9daffecb698cd367a8d585157732991"},
+    {file = "ruff-0.4.9-py3-none-macosx_11_0_arm64.whl", hash = "sha256:98ec2775fd2d856dc405635e5ee4ff177920f2141b8e2d9eb5bd6efd50e80317"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4555056049d46d8a381f746680db1c46e67ac3b00d714606304077682832998e"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:e91175fbe48f8a2174c9aad70438fe9cb0a5732c4159b2a10a3565fea2d94cde"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0e8e7b95673f22e0efd3571fb5b0cf71a5eaaa3cc8a776584f3b2cc878e46bff"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:2d45ddc6d82e1190ea737341326ecbc9a61447ba331b0a8962869fcada758505"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:78de3fdb95c4af084087628132336772b1c5044f6e710739d440fc0bccf4d321"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:06b60f91bfa5514bb689b500a25ba48e897d18fea14dce14b48a0c40d1635893"},
+    {file = "ruff-0.4.9-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:88bffe9c6a454bf8529f9ab9091c99490578a593cc9f9822b7fc065ee0712a06"},
+    {file = "ruff-0.4.9-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:673bddb893f21ab47a8334c8e0ea7fd6598ecc8e698da75bcd12a7b9d0a3206e"},
+    {file = "ruff-0.4.9-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:8c1aff58c31948cc66d0b22951aa19edb5af0a3af40c936340cd32a8b1ab7438"},
+    {file = "ruff-0.4.9-py3-none-musllinux_1_2_i686.whl", hash = "sha256:784d3ec9bd6493c3b720a0b76f741e6c2d7d44f6b2be87f5eef1ae8cc1d54c84"},
+    {file = "ruff-0.4.9-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:732dd550bfa5d85af8c3c6cbc47ba5b67c6aed8a89e2f011b908fc88f87649db"},
+    {file = "ruff-0.4.9-py3-none-win32.whl", hash = "sha256:8064590fd1a50dcf4909c268b0e7c2498253273309ad3d97e4a752bb9df4f521"},
+    {file = "ruff-0.4.9-py3-none-win_amd64.whl", hash = "sha256:e0a22c4157e53d006530c902107c7f550b9233e9706313ab57b892d7197d8e52"},
+    {file = "ruff-0.4.9-py3-none-win_arm64.whl", hash = "sha256:5d5460f789ccf4efd43f265a58538a2c24dbce15dbf560676e430375f20a8198"},
+    {file = "ruff-0.4.9.tar.gz", hash = "sha256:f1cb0828ac9533ba0135d148d214e284711ede33640465e706772645483427e3"},
 ]
 
 [[package]]
@@ -7727,19 +7727,23 @@ widechars = ["wcwidth"]
 
 [[package]]
 name = "timezonefinder"
-version = "6.5.0"
+version = "6.5.2"
 description = "python package for finding the timezone of any point on earth (coordinates) offline"
 optional = false
-python-versions = ">=3.8,<4"
+python-versions = "<4,>=3.8"
 files = [
-    {file = "timezonefinder-6.5.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:3c70e1ea468ecac11272aa0a727450fd7cf43039ae2a2c62f7900a0a42efb6d6"},
-    {file = "timezonefinder-6.5.0.tar.gz", hash = "sha256:7afdb1516927e7766deb6da80c8bd66734a44ba3d898038fe73aef1e9cd39bb0"},
+    {file = "timezonefinder-6.5.2-cp310-cp310-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ea7ca91f25d988d69efeae020ed828534ed01f6687646a50e464d82da4704b30"},
+    {file = "timezonefinder-6.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4a3bca9933ea165380d54b336227def58e62682968437cd44223a065ecff7e9"},
+    {file = "timezonefinder-6.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2ac4ef31d379c7ba54710462857bea36a9630ea23550ffb15550322e6988efbd"},
+    {file = "timezonefinder-6.5.2-cp38-cp38-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:524ab145a2f4ce5101e52308868ecd9da0cdcc2cb3024c13356616b41a685fd6"},
+    {file = "timezonefinder-6.5.2-cp39-cp39-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b93927a4996a5c01f0628eb6858c61b2a7f9f49e02c07bed2a95e96a8dc1b65e"},
+    {file = "timezonefinder-6.5.2.tar.gz", hash = "sha256:3279e67d5b1b9a54d1a16f3bd4234169f14e2b90c0f58ed37bcfa7303645d610"},
 ]
 
 [package.dependencies]
 cffi = ">=1.15.1,<2"
 h3 = ">=3.7.6,<4"
-numpy = {version = ">=1.23,<2", markers = "python_version >= \"3.9\""}
+numpy = {version = ">=1.23,<3", markers = "python_version >= \"3.9\""}
 setuptools = ">=65.5"
 
 [package.extras]
@@ -7826,13 +7830,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.2.1"
+version = "2.2.2"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
-    {file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
+    {file = "urllib3-2.2.2-py3-none-any.whl", hash = "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472"},
+    {file = "urllib3-2.2.2.tar.gz", hash = "sha256:dd505485549a7a552833da5e6063639d0d177c04f23bc3864e41e5dc5f612168"},
 ]
 
 [package.extras]

From a99816a08b3c30b72283a4a7b77415349a539c33 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 17 Jun 2024 09:26:34 -0700
Subject: [PATCH 023/247] [bot] Bump submodules (#32769)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index faa18026692f77..7287ff0cbf3ab4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit faa18026692f7714ee537261fe649dafe4882579
+Subproject commit 7287ff0cbf3ab405a670405f2faca419d524387d

From ab96d12f2ee7bc80af3203b732be05a46894a610 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Jun 2024 09:43:36 -0700
Subject: [PATCH 024/247] more fetch depth

---
 release/check-submodules.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index bff8d7a28fe301..5305cecd3a3889 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 2000 origin master
+  git -C $submodule fetch --depth 3000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

From 54da59c1feb917896538ce8aa22bf4f12af20824 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Jun 2024 03:44:31 +0800
Subject: [PATCH 025/247] cabana: improved error messaging (#32768)

* check user authenrication

* Update tools/cabana/streams/replaystream.cc

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 tools/cabana/streams/replaystream.cc | 27 +++++++++++++++++++++++----
 tools/replay/replay.h                |  1 +
 tools/replay/route.cc                |  3 +++
 tools/replay/route.h                 | 10 ++++++++++
 4 files changed, 37 insertions(+), 4 deletions(-)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 5d4925a67ac84e..bdb9ebb014f032 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -56,7 +56,28 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  return replay->load();
+  bool success = replay->load();
+  if (!success) {
+    if (replay->lastRouteError() == RouteLoadError::AccessDenied) {
+      auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+      QString message;
+      if (auth_content.empty()) {
+        message = "Authentication Required. Please run the following command to authenticate:\n\n"
+                  "python tools/lib/auth.py\n\n"
+                  "This will grant access to routes from your comma account.";
+      } else {
+        message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
+                     "This is likely a private route.").arg(route);
+      }
+      QMessageBox::warning(nullptr, tr("Access Denied"), message);
+    } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
+      QMessageBox::warning(nullptr, tr("Network Error"),
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+    } else {
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+    }
+  }
+  return success;
 }
 
 void ReplayStream::start() {
@@ -144,7 +165,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
 bool OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
-  if (int idx = route.lastIndexOf('/'); idx != -1) {
+  if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
     data_dir = route.mid(0, idx + 1);
     route = route.mid(idx + 1);
   }
@@ -161,8 +182,6 @@ bool OpenReplayWidget::open() {
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
       *stream = replay_stream.release();
-    } else {
-      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
     }
   }
   return *stream != nullptr;
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 8b51ab054d06db..7e1815ede00a4b 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -53,6 +53,7 @@ class Replay : public QObject {
          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
+  RouteLoadError lastRouteError() const { return route_->lastError(); }
   void start(int seconds = 0);
   void stop();
   void pause(bool pause);
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e8e73459eab4b3..18c962abd5cbfa 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -74,7 +74,10 @@ bool Route::loadFromServer(int retries) {
       return loadFromJson(result);
     } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
       rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
+      err_ = RouteLoadError::AccessDenied;
       return false;
+    } else {
+      err_ = RouteLoadError::NetworkError;
     }
     rWarning("Retrying %d/%d", i, retries);
     util::sleep_for(3000);
diff --git a/tools/replay/route.h b/tools/replay/route.h
index f95649780462c7..acc73d509a1f6d 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -12,6 +12,14 @@
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
 
+enum class RouteLoadError {
+  None,
+  AccessDenied,
+  NetworkError,
+  FileNotFound,
+  UnknownError
+};
+
 struct RouteIdentifier {
   QString dongle_id;
   QString timestamp;
@@ -33,6 +41,7 @@ class Route {
 public:
   Route(const QString &route, const QString &data_dir = {});
   bool load();
+  RouteLoadError lastError() const { return err_; }
   inline const QString &name() const { return route_.str; }
   inline const QDateTime datetime() const { return date_time_; }
   inline const QString &dir() const { return data_dir_; }
@@ -50,6 +59,7 @@ class Route {
   QString data_dir_;
   std::map<int, SegmentFile> segments_;
   QDateTime date_time_;
+  RouteLoadError err_ = RouteLoadError::None;
 };
 
 class Segment : public QObject {

From 3de6ee5ee316980f2dfea5e59c7369ac1f0a83df Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 17 Jun 2024 13:24:04 -0700
Subject: [PATCH 026/247] cabana: include optional (#32772)

optional
---
 tools/cabana/videowidget.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 7bd55cbce4103d..ac34c66007bacf 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -2,6 +2,7 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 #include <set>
 #include <utility>
 

From cb63f101cadec4f2ce4362b3df849a1d2adf9e56 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Jun 2024 19:18:20 -0700
Subject: [PATCH 027/247] Toyota: remove smartDSU support (#32777)

---
 selfdrive/car/tests/routes.py     |  1 -
 selfdrive/car/toyota/carstate.py  | 17 +++-----------
 selfdrive/car/toyota/interface.py | 37 +++++++++----------------------
 selfdrive/car/toyota/values.py    |  4 +---
 4 files changed, 14 insertions(+), 45 deletions(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index dd3a8f633d2693..b1156f0e896693 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -225,7 +225,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
   CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 8315f24ae48d8b..a596881c33d985 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -132,8 +132,7 @@ def update(self, cp, cp_cam):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
-        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -167,13 +166,11 @@ def update(self, cp, cp_cam):
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
       self.prev_distance_button = self.distance_button
       if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-      else:
-        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
@@ -208,12 +205,9 @@ def get_can_parser(CP):
       messages.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not CP.flags & ToyotaFlags.SMART_DSU.value:
-        messages += [
-          ("ACC_CONTROL", 33),
-        ]
       messages += [
         ("PCS_HUD", 1),
+        ("ACC_CONTROL", 33),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
@@ -221,11 +215,6 @@ def get_can_parser(CP):
         ("PRE_COLLISION", 33),
       ]
 
-    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      messages += [
-        ("SDSU", 100),
-      ]
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 98f63597ec083c..6487257bbc7b1b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -44,18 +44,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     stop_and_go = candidate in TSS2_CAR
 
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
-      ret.flags |= ToyotaFlags.SMART_DSU.value
-
-    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
-      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
-
     # In TSS2 cars, the camera does long control
     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.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
 
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
@@ -98,7 +89,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
     #  For now, don't list stop and go functionality in the docs
     if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
+      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -110,28 +101,20 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # 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 or candidate in RADAR_ACC_CAR
+      ret.experimentalLongitudinalAvailable = 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:
-          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
-      else:
-        use_sdsu = use_sdsu and experimental_long
+      # Disabling radar is only supported on TSS2 radar-ACC cars
+      if experimental_long and candidate in RADAR_ACC_CAR:
+        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
     # openpilot longitudinal enabled by default:
-    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
-    #  - TSS2 radar ACC cars w/ smartDSU installed
-    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
-    #  - 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)
+    #  - TSS2 radar ACC cars (disables radar)
+    ret.openpilotLongitudinalControl = 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
 
     if not ret.openpilotLongitudinalControl:
@@ -156,7 +139,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
@@ -165,7 +148,7 @@ def init(CP, logcan, sendcan):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2e781ad0aa5827..8022e8b3abdbf7 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -44,9 +44,7 @@ def __init__(self, CP):
 class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
-  SMART_DSU = 2
   DISABLE_RADAR = 4
-  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8
@@ -56,7 +54,7 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  # these cars are speculated to allow stop and go when the DSU is unplugged
   SNG_WITHOUT_DSU = 512
 
 

From 5c4ea14a3cb7bcb443fbee8c5b1d52c10788c9e8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 17 Jun 2024 20:30:32 -0700
Subject: [PATCH 028/247] Ubuntu 24.04 (#32624)

* noble build

* workflow

* symlink

* map only for noble

* sym

* add qt to cppcheck

* cppcheck noreturn in non void funct

* get kaitai header

* kaitai header

* syntax

* try new pyopencl

* try this version

* install lsb-core manually

* support old 20.04 lsb-core

* try arm

* try latest pyopencl

* revert

* use pocl icd

* no lock

* no arm pyopencl

* new intel opencl runtime

* pin filelock

* undo

* glsl version

* new version

* build test

* remove test

* new metadrive

* remove glsl restrictions

* <optional>

* Update .github/workflows/tools_tests.yaml

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* cache

* new cache

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .devcontainer/Dockerfile                      |  4 +-
 .github/workflows/setup/action.yaml           |  2 +-
 .github/workflows/tools_tests.yaml            | 28 ++++++++++++--
 .pre-commit-config.yaml                       |  2 +
 Dockerfile.openpilot_base                     | 37 +++++++++++--------
 SConstruct                                    |  2 +
 poetry.lock                                   |  6 +--
 pyproject.toml                                |  2 +-
 selfdrive/navd/SConscript                     |  4 +-
 selfdrive/ui/SConscript                       |  4 +-
 selfdrive/ui/qt/maps/map_helpers.cc           |  8 ++--
 .../x86_64/lib/libQMapLibre.so.3.0.0          |  4 +-
 tools/README.md                               |  6 +--
 tools/profiling/snapdragon/README.md          |  2 +-
 tools/webcam/README.md                        |  2 +-
 15 files changed, 71 insertions(+), 42 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index af67bdbe5d86d5..1115c375db4647 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,11 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
 RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
 RUN usermod -aG video batman
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 970d62030d56f1..701675942f5f39 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -60,4 +60,4 @@ runs:
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
\ No newline at end of file
+      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c2f7d86e694caf..9a26ca9a20936a 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,12 +39,13 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_python311:
-    name: test python3.11 support
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
+  test_compatibility:
+    name: test 20.04 + 3.11
+    runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: Installing ubuntu dependencies
       run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
     - name: Installing python
@@ -57,6 +58,25 @@ jobs:
       run: pip install poetry==1.7.0
     - name: Installing python dependencies
       run: poetry install --no-cache --no-root
+    - name: git LFS
+      run: git lfs pull
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-ubuntu2004
+    - name: Building openpilot
+      run: poetry run scons -u -j$(nproc)
+    - name: Saving scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d47630cdad8019..ecde9fe7718db2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -62,6 +62,8 @@ repos:
         - --quiet
         - --force
         - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
 -   repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 45b29bdcb13c6a..7228d16ef93527 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED 1
 
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gcc-arm-none-eabi \
     tmux \
     vim \
-    lsb-core \
     libx11-6 \
+    wget \
   && 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 && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
     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 && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
@@ -57,7 +62,7 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 
 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
diff --git a/SConstruct b/SConstruct
index 944d650d742d99..f53d8fb7d08d54 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
diff --git a/poetry.lock b/poetry.lock
index 13d082763cc7df..58fa7dee667abc 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2270,8 +2270,8 @@ ros = ["zmq"]
 [package.source]
 type = "git"
 url = "https://github.com/commaai/metadrive.git"
-reference = "python3.12"
-resolved_reference = "0823c7491a1ab870bcd53d10a41e985a3ad1b968"
+reference = "anisotropic_off"
+resolved_reference = "1606c844345f98aa79f76177856e328edc6ec428"
 
 [[package]]
 name = "mouseinfo"
@@ -8114,4 +8114,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "83dbbf76ea5f3e1022233a164d6f342706ebf64ad8bbbf742a55d5f49474d863"
+content-hash = "32df734a6ad6ad6a665c94c41cd0e3643a48174904faaf6f21c5c84f350f3cec"
diff --git a/pyproject.toml b/pyproject.toml
index 5353b3988769f0..374b0f46cafaec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -176,7 +176,7 @@ flaky = "*"
 inputs = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 myst-parser = "*"
 natsort = "*"
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 295e8127dbc7f6..378e7624942e75 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -1,4 +1,4 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, tran
 if arch == 'larch64':
   libs.append(':libEGL_mesa.so.0')
 
-if arch in ['larch64', 'aarch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
   if arch == 'x86_64':
     rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
     map_env["RPATH"] += [rpath, ]
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e181cb9abdc45f..e4fb32586d2fd9 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -8,7 +8,7 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
 
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 16923f7a435c1b..50e14011640b6b 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -143,11 +143,11 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
 
   d = std::max(d, 0.0f);
   if (is_metric) {
-    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
-                     : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
+    return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
+                     : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
   } else {
     float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
-                        : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
+    return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
+                        : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
   }
 }
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
index f2fcf107bc5bc0..e49d321c7c9376 100755
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b718e4ea770105893dc41f64be36f806586a9471e2bb9d18d5ad97e906434548
-size 11000296
+oid sha256:d62e192aa7806302ed79866d9e3c51efc4bc315a6fdfe0e58e448dac5b279098
+size 11549728
diff --git a/tools/README.md b/tools/README.md
index 361a27deda4214..f465ea12343e5d 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,11 +2,11 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
+openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
 Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-## Native setup on Ubuntu 20.04
+## Native setup on Ubuntu 24.04
 
 **1. Clone openpilot**
 
@@ -55,7 +55,7 @@ GUI apps like `ui` or `cabana` can also run inside the container by leveraging X
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
 **NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
diff --git a/tools/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md
index 664814b6115273..f56ca182a77763 100644
--- a/tools/profiling/snapdragon/README.md
+++ b/tools/profiling/snapdragon/README.md
@@ -3,7 +3,7 @@ snapdragon profiler
 
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
-  * choose v2021.5 (verified working with 20.04 dev environment)
+  * choose v2021.5 (verified working with 24.04 dev environment)
 * unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 7334d87b38c167..c756069bb5d683 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 20.04
+- Ubuntu 24.04
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car

From 987b0d9e030ec2191e422e7ca8d059b8a02ef08a Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 18 Jun 2024 14:27:28 -0400
Subject: [PATCH 029/247] Ubuntu 24.04 fix setup (#32783)

* fix tk-dev

* fix missing pip

* Update tools/install_python_dependencies.sh

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 tools/install_python_dependencies.sh | 10 +++++++++-
 tools/install_ubuntu_dependencies.sh |  3 ++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index af25ec642481a1..bb00302073ead2 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+# Increase the pip timeout to handle TimeoutError
+export PIP_DEFAULT_TIMEOUT=200
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
@@ -13,7 +16,7 @@ fi
 if ! command -v "pyenv" > /dev/null 2>&1; then
   echo "pyenv install ..."
   curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH"
+  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$HOME/.pyenv/versions/${PYENV_PYTHON_VERSION}/bin:\$PATH"
 fi
 
 if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
@@ -51,7 +54,12 @@ if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
   echo "python ${PYENV_PYTHON_VERSION} install ..."
   CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
 fi
+
 eval "$(pyenv init --path)"
+eval "$(pyenv init -)"
+eval "$(pyenv virtualenv-init -)"
+pyenv local ${PYENV_PYTHON_VERSION}
+pyenv rehash
 
 echo "update pip"
 pip install pip==24.0
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1f8ef24eaf81ff..1fc5e4fc8b6f9f 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -93,7 +93,8 @@ function install_ubuntu_lts_latest_requirements() {
     qtchooser \
     qt5-qmake \
     qtbase5-dev-tools \
-    python3-dev
+    python3-dev \
+    tk-dev
 }
 
 # Install Ubuntu 20.04 packages

From 151b4530ddae30d9c08b86d104d2997cdd4c35e0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 18 Jun 2024 17:28:52 -0700
Subject: [PATCH 030/247] Fix openpilot-prebuilt dockerfile (#32787)

* Manually add symlinks to prevent docker for copying duplicate files

* Copy everything
---
 Dockerfile.openpilot | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 5d8f958c48017d..e26a427eb1aba9 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -8,23 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
+COPY . ${OPENPILOT_PATH}/
 
 RUN scons --cache-readonly -j$(nproc)

From de75372880cb354df2bcb2e0f36e769213bf7072 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 19 Jun 2024 09:55:23 -0700
Subject: [PATCH 031/247] Remove pyenv (#32786)

* no pyenv

* better

* check poetry

* docker

* syntax

* manual env

* pre-commit

* revert

* format
---
 Dockerfile.openpilot_base            | 16 ++++----
 tools/install_python_dependencies.sh | 60 ++++------------------------
 tools/install_ubuntu_dependencies.sh |  2 +-
 3 files changed, 16 insertions(+), 62 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 7228d16ef93527..343fd29c82178a 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -68,20 +68,18 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.12.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
 COPY --chown=$USER pyproject.toml poetry.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-RUN cd /tmp && \
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV VIRTUAL_ENV=/home/$USER/venv/.venv
+RUN python3 -m venv $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN . $VIRTUAL_ENV/bin/activate && \
+    cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index bb00302073ead2..086fc2d14f8653 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -13,58 +13,15 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
 
-if ! command -v "pyenv" > /dev/null 2>&1; then
-  echo "pyenv install ..."
-  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$HOME/.pyenv/versions/${PYENV_PYTHON_VERSION}/bin:\$PATH"
+if ! command -v "poetry" > /dev/null 2>&1; then
+  echo "installing poetry..."
+  curl -sSL https://install.python-poetry.org | python3 -
+  POETRY_BIN='$HOME/.local/bin'
+  ADD_PATH_CMD="export PATH=\"$POETRY_BIN:\$PATH\""
+  eval $ADD_PATH_CMD
+  printf "\n#poetry path\n$ADD_PATH_CMD\n" >> $RC_FILE
 fi
 
-if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
-  echo "pyenvrc setup ..."
-  cat <<EOF > "${HOME}/.pyenvrc"
-if [ -z "\$PYENV_ROOT" ]; then
-  $PYENV_PATH_SETUP
-  export PYENV_ROOT="\$HOME/.pyenv"
-  eval "\$(pyenv init -)"
-  eval "\$(pyenv virtualenv-init -)"
-fi
-EOF
-
-  SOURCE_PYENVRC="source ~/.pyenvrc"
-  if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then
-    printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE
-  fi
-
-  eval "$SOURCE_PYENVRC"
-  # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS
-  if [ $(uname) == "Darwin" ]; then
-    unset -f pyenv
-  fi
-fi
-
-export MAKEFLAGS="-j$(nproc)"
-
-PYENV_PYTHON_VERSION="3.12.4"
-if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
-  # no pyenv update on mac
-  if [ "$(uname)" == "Linux" ]; then
-    echo "pyenv update ..."
-    pyenv update
-  fi
-  echo "python ${PYENV_PYTHON_VERSION} install ..."
-  CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
-fi
-
-eval "$(pyenv init --path)"
-eval "$(pyenv init -)"
-eval "$(pyenv virtualenv-init -)"
-pyenv local ${PYENV_PYTHON_VERSION}
-pyenv rehash
-
-echo "update pip"
-pip install pip==24.0
-pip install poetry==1.7.0
-
 poetry config virtualenvs.prefer-active-python true --local
 poetry config virtualenvs.in-project true --local
 
@@ -77,9 +34,8 @@ fi
 
 poetry self add poetry-dotenv-plugin@^0.1.0
 
-echo "pip packages install..."
+echo "installing python packages..."
 poetry install --no-cache --no-root
-pyenv rehash
 
 [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1fc5e4fc8b6f9f..5c10bf5438d0d6 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -94,7 +94,7 @@ function install_ubuntu_lts_latest_requirements() {
     qt5-qmake \
     qtbase5-dev-tools \
     python3-dev \
-    tk-dev
+    python3-venv
 }
 
 # Install Ubuntu 20.04 packages

From a89201219d19c544c8b12f8124fdceaadd6b3dca Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 19 Jun 2024 18:17:25 -0400
Subject: [PATCH 032/247] VW: Rename harnesses (#32779)

---
 docs/CARS.md                       | 112 ++++++++++++++---------------
 selfdrive/car/docs_definitions.py  |   4 +-
 selfdrive/car/volkswagen/values.py |   4 +-
 3 files changed, 60 insertions(+), 60 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 43bd8a8b30e414..2c32a77f0c7794 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 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=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|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=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Audi&model=S3 2015-17">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>||
@@ -29,7 +29,7 @@ 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||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |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 2021-23|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 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 2021-23">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>||
@@ -185,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 2020-23|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 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-24">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 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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 2020-24">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 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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 2017-24">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>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 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-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<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=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -194,8 +194,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<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=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<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=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 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 Ram 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=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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 Subaru 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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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 Subaru 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=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -206,15 +206,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|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 Subaru B 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=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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 Subaru 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=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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 2016">Buy Here</a></sub></details>||
@@ -260,42 +260,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |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-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=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 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>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 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>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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 R 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>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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 Shooting Brake 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>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 971338e9b57196..a04653c1403c96 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
   subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
-  vw = BaseCarHarness("VW connector")
-  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw_a = BaseCarHarness("VW A connector")
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8b58769b3fd87a..69dd63fefd07a9 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -188,7 +188,7 @@ class Footnote(Enum):
 @dataclass
 class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
 
   def init_make(self, CP: car.CarParams):
     self.footnotes.append(Footnote.VW_EXP_LONG)
@@ -196,7 +196,7 @@ def init_make(self, CP: car.CarParams):
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
 
     if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
       self.min_steer_speed = 0

From e491c9d964a2aef07eeaa7b47f4aa9f992130482 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:14:13 -0700
Subject: [PATCH 033/247] remove navigation (#32773)

* remove navigation

* lil more

* fix cabana

* revert for now

* fix docs

* move that over

* lock

* rm assets
---
 .vscode/launch.json                           |   1 -
 SConstruct                                    |   9 +-
 common/params.cc                              |   6 -
 docs/c_docs.rst                               |   2 -
 poetry.lock                                   |  27 +-
 pyproject.toml                                |   2 -
 selfdrive/SConscript                          |   1 -
 selfdrive/assets/img_map.png                  |   3 -
 .../assets/navigation/default_marker.svg      |   3 -
 .../assets/navigation/direction_arrive.png    |   3 -
 .../navigation/direction_arrive_left.png      |   3 -
 .../navigation/direction_arrive_right.png     |   3 -
 .../navigation/direction_arrive_straight.png  |   3 -
 .../assets/navigation/direction_close.png     |   3 -
 .../assets/navigation/direction_continue.png  |   3 -
 .../navigation/direction_continue_left.png    |   3 -
 .../navigation/direction_continue_right.png   |   3 -
 .../direction_continue_slight_left.png        |   3 -
 .../direction_continue_slight_right.png       |   3 -
 .../direction_continue_straight.png           |   3 -
 .../navigation/direction_continue_uturn.png   |   3 -
 .../assets/navigation/direction_depart.png    |   3 -
 .../navigation/direction_depart_left.png      |   3 -
 .../navigation/direction_depart_right.png     |   3 -
 .../navigation/direction_depart_straight.png  |   3 -
 .../navigation/direction_end_of_road_left.png |   3 -
 .../direction_end_of_road_right.png           |   3 -
 .../assets/navigation/direction_flag.png      |   3 -
 .../assets/navigation/direction_fork.png      |   3 -
 .../assets/navigation/direction_fork_left.png |   3 -
 .../navigation/direction_fork_right.png       |   3 -
 .../navigation/direction_fork_slight_left.png |   3 -
 .../direction_fork_slight_right.png           |   3 -
 .../navigation/direction_fork_straight.png    |   3 -
 .../assets/navigation/direction_invalid.png   |   3 -
 .../navigation/direction_invalid_left.png     |   3 -
 .../navigation/direction_invalid_right.png    |   3 -
 .../direction_invalid_slight_left.png         |   3 -
 .../direction_invalid_slight_right.png        |   3 -
 .../navigation/direction_invalid_straight.png |   3 -
 .../navigation/direction_invalid_uturn.png    |   3 -
 .../navigation/direction_merge_left.png       |   3 -
 .../navigation/direction_merge_right.png      |   3 -
 .../direction_merge_slight_left.png           |   3 -
 .../direction_merge_slight_right.png          |   3 -
 .../navigation/direction_merge_straight.png   |   3 -
 .../navigation/direction_new_name_left.png    |   3 -
 .../navigation/direction_new_name_right.png   |   3 -
 .../direction_new_name_sharp_left.png         |   3 -
 .../direction_new_name_sharp_right.png        |   3 -
 .../direction_new_name_slight_left.png        |   3 -
 .../direction_new_name_slight_right.png       |   3 -
 .../direction_new_name_straight.png           |   3 -
 .../direction_notification_left.png           |   3 -
 .../direction_notification_right.png          |   3 -
 .../direction_notification_sharp_left.png     |   3 -
 .../direction_notification_sharp_right.png    |   3 -
 .../direction_notification_slight_left.png    |   3 -
 .../direction_notification_slight_right.png   |   3 -
 .../direction_notification_straight.png       |   3 -
 .../navigation/direction_off_ramp_left.png    |   3 -
 .../navigation/direction_off_ramp_right.png   |   3 -
 .../direction_off_ramp_slight_left.png        |   3 -
 .../direction_off_ramp_slight_right.png       |   3 -
 .../navigation/direction_on_ramp_left.png     |   3 -
 .../navigation/direction_on_ramp_right.png    |   3 -
 .../direction_on_ramp_sharp_left.png          |   3 -
 .../direction_on_ramp_sharp_right.png         |   3 -
 .../direction_on_ramp_slight_left.png         |   3 -
 .../direction_on_ramp_slight_right.png        |   3 -
 .../navigation/direction_on_ramp_straight.png |   3 -
 .../assets/navigation/direction_rotary.png    |   3 -
 .../navigation/direction_rotary_left.png      |   3 -
 .../navigation/direction_rotary_right.png     |   3 -
 .../direction_rotary_sharp_left.png           |   3 -
 .../direction_rotary_sharp_right.png          |   3 -
 .../direction_rotary_slight_left.png          |   3 -
 .../direction_rotary_slight_right.png         |   3 -
 .../navigation/direction_rotary_straight.png  |   3 -
 .../navigation/direction_roundabout.png       |   3 -
 .../navigation/direction_roundabout_left.png  |   3 -
 .../navigation/direction_roundabout_right.png |   3 -
 .../direction_roundabout_sharp_left.png       |   3 -
 .../direction_roundabout_sharp_right.png      |   3 -
 .../direction_roundabout_slight_left.png      |   3 -
 .../direction_roundabout_slight_right.png     |   3 -
 .../direction_roundabout_straight.png         |   3 -
 .../assets/navigation/direction_turn_left.png |   3 -
 .../direction_turn_left_inactive.png          |   3 -
 .../navigation/direction_turn_right.png       |   3 -
 .../direction_turn_right_inactive.png         |   3 -
 .../navigation/direction_turn_sharp_left.png  |   3 -
 .../navigation/direction_turn_sharp_right.png |   3 -
 .../navigation/direction_turn_slight_left.png |   3 -
 .../direction_turn_slight_left_inactive.png   |   3 -
 .../direction_turn_slight_right.png           |   3 -
 .../direction_turn_slight_right_inactive.png  |   3 -
 .../navigation/direction_turn_straight.png    |   3 -
 .../direction_turn_straight_inactive.png      |   3 -
 .../navigation/direction_turn_uturn.png       |   3 -
 .../assets/navigation/direction_updown.png    |   3 -
 selfdrive/assets/navigation/home.png          |   3 -
 selfdrive/assets/navigation/home.svg          |   3 -
 selfdrive/assets/navigation/home_inactive.png |   3 -
 .../assets/navigation/icon_directions.svg     |   3 -
 .../navigation/icon_directions_outlined.svg   |   3 -
 selfdrive/assets/navigation/icon_favorite.svg |   3 -
 selfdrive/assets/navigation/icon_home.svg     |   3 -
 selfdrive/assets/navigation/icon_recent.svg   |   3 -
 selfdrive/assets/navigation/icon_settings.svg |   3 -
 selfdrive/assets/navigation/icon_work.svg     |   3 -
 selfdrive/assets/navigation/work.png          |   3 -
 selfdrive/assets/navigation/work.svg          |   3 -
 selfdrive/assets/navigation/work_inactive.png |   3 -
 selfdrive/assets/offroad/icon_map.png         |   3 -
 selfdrive/assets/offroad/icon_map_speed.png   |   3 -
 selfdrive/navd/.gitignore                     |   6 -
 selfdrive/navd/README.md                      |  24 --
 selfdrive/navd/SConscript                     |  20 -
 selfdrive/navd/__init__.py                    |   0
 selfdrive/navd/helpers.py                     | 189 ---------
 selfdrive/navd/main.cc                        |  29 --
 selfdrive/navd/map_renderer.cc                | 338 ---------------
 selfdrive/navd/map_renderer.h                 |  61 ---
 selfdrive/navd/map_renderer.py                | 100 -----
 selfdrive/navd/navd.py                        | 368 -----------------
 selfdrive/navd/set_destination.py             |  33 --
 selfdrive/navd/style.json                     |   1 -
 selfdrive/navd/tests/test_map_renderer.py     | 212 ----------
 selfdrive/navd/tests/test_navd.py             |  57 ---
 selfdrive/test/test_onroad.py                 |   1 -
 selfdrive/ui/SConscript                       |  11 +-
 selfdrive/ui/qt/home.cc                       |  20 +-
 selfdrive/ui/qt/maps/map.cc                   | 390 ------------------
 selfdrive/ui/qt/maps/map.h                    |  86 ----
 selfdrive/ui/qt/maps/map_eta.cc               |  59 ---
 selfdrive/ui/qt/maps/map_eta.h                |  23 --
 selfdrive/ui/qt/maps/map_helpers.cc           | 153 -------
 selfdrive/ui/qt/maps/map_helpers.h            |  32 --
 selfdrive/ui/qt/maps/map_instructions.cc      | 144 -------
 selfdrive/ui/qt/maps/map_instructions.h       |  38 --
 selfdrive/ui/qt/maps/map_panel.cc             |  43 --
 selfdrive/ui/qt/maps/map_panel.h              |  21 -
 selfdrive/ui/qt/maps/map_settings.cc          | 385 -----------------
 selfdrive/ui/qt/maps/map_settings.h           | 102 -----
 selfdrive/ui/qt/offroad/settings.cc           |  14 -
 selfdrive/ui/qt/onroad/annotated_camera.cc    |   9 -
 selfdrive/ui/qt/onroad/annotated_camera.h     |   2 -
 selfdrive/ui/qt/onroad/buttons.cc             |  15 -
 selfdrive/ui/qt/onroad/buttons.h              |  13 -
 selfdrive/ui/qt/onroad/onroad_home.cc         |  53 ---
 selfdrive/ui/qt/onroad/onroad_home.h          |   1 -
 selfdrive/ui/qt/widgets/prime.cc              |   8 +-
 selfdrive/ui/qt/widgets/prime.h               |   1 -
 selfdrive/ui/translations/main_ar.ts          | 104 +----
 selfdrive/ui/translations/main_de.ts          | 106 +----
 selfdrive/ui/translations/main_fr.ts          | 104 +----
 selfdrive/ui/translations/main_ja.ts          | 104 +----
 selfdrive/ui/translations/main_ko.ts          | 108 +----
 selfdrive/ui/translations/main_pt-BR.ts       | 108 +----
 selfdrive/ui/translations/main_th.ts          | 104 +----
 selfdrive/ui/translations/main_tr.ts          | 102 +----
 selfdrive/ui/translations/main_zh-CHS.ts      | 108 +----
 selfdrive/ui/translations/main_zh-CHT.ts      | 108 +----
 selfdrive/ui/ui.cc                            |   4 +
 selfdrive/ui/watch3.cc                        |   1 -
 system/athena/athenad.py                      |  13 -
 system/manager/process_config.py              |   1 -
 third_party/maplibre-native-qt/.gitignore     |   1 -
 third_party/maplibre-native-qt/aarch64        |   1 -
 third_party/maplibre-native-qt/build.sh       |  36 --
 .../include/conversion_p.hpp                  | 241 -----------
 .../include/export_core.hpp                   |  20 -
 .../include/export_location.hpp               |  20 -
 .../include/export_widgets.hpp                |  20 -
 .../maplibre-native-qt/include/geojson_p.hpp  |  30 --
 .../maplibre-native-qt/include/gl_widget.hpp  |  56 ---
 .../include/gl_widget_p.hpp                   |  42 --
 .../maplibre-native-qt/include/map.hpp        | 205 ---------
 .../include/map_observer_p.hpp                |  54 ---
 .../maplibre-native-qt/include/map_p.hpp      |  79 ----
 .../include/map_renderer_p.hpp                |  63 ---
 .../maplibre-native-qt/include/qgeomap.hpp    |  54 ---
 .../maplibre-native-qt/include/qgeomap_p.hpp  |  93 -----
 .../maplibre-native-qt/include/qmaplibre.hpp  |   9 -
 .../include/qmaplibrewidgets.hpp              |   6 -
 .../include/qt_mapping_engine.hpp             |  31 --
 .../maplibre-native-qt/include/settings.hpp   | 125 ------
 .../maplibre-native-qt/include/settings_p.hpp |  57 ---
 .../include/style_change_utils_p.hpp          |  34 --
 .../include/texture_node.hpp                  |  42 --
 .../maplibre-native-qt/include/types.hpp      | 206 ---------
 .../maplibre-native-qt/include/utils.hpp      |  28 --
 .../larch64/include/QMapLibre/Export          |   1 -
 .../larch64/include/QMapLibre/LayerParameter  |   1 -
 .../larch64/include/QMapLibre/Map             |   1 -
 .../larch64/include/QMapLibre/QMapLibre       |   1 -
 .../larch64/include/QMapLibre/Settings        |   1 -
 .../larch64/include/QMapLibre/SourceParameter |   1 -
 .../larch64/include/QMapLibre/StyleParameter  |   1 -
 .../larch64/include/QMapLibre/Types           |   1 -
 .../larch64/include/QMapLibre/Utils           |   1 -
 .../larch64/lib/libQMapLibre.so               |   3 -
 .../larch64/lib/libQMapLibre.so.3.0.0         |   3 -
 .../x86_64/include/QMapLibre/Export           |   1 -
 .../x86_64/include/QMapLibre/LayerParameter   |   1 -
 .../x86_64/include/QMapLibre/Map              |   1 -
 .../x86_64/include/QMapLibre/QMapLibre        |   1 -
 .../x86_64/include/QMapLibre/Settings         |   1 -
 .../x86_64/include/QMapLibre/SourceParameter  |   1 -
 .../x86_64/include/QMapLibre/StyleParameter   |   1 -
 .../x86_64/include/QMapLibre/Types            |   1 -
 .../x86_64/include/QMapLibre/Utils            |   1 -
 .../x86_64/lib/libQMapLibre.so                |   1 -
 .../x86_64/lib/libQMapLibre.so.3.0.0          |   3 -
 tools/sim/README.md                           |   2 +-
 216 files changed, 51 insertions(+), 6044 deletions(-)
 delete mode 100644 selfdrive/assets/img_map.png
 delete mode 100644 selfdrive/assets/navigation/default_marker.svg
 delete mode 100644 selfdrive/assets/navigation/direction_arrive.png
 delete mode 100644 selfdrive/assets/navigation/direction_arrive_left.png
 delete mode 100644 selfdrive/assets/navigation/direction_arrive_right.png
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diff --git a/.vscode/launch.json b/.vscode/launch.json
index 3b3953c3f4bf56..a6b341d9eafbdd 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -7,7 +7,6 @@
       "description": "Select the process to debug",
       "options": [
         "selfdrive/controls/controlsd.py",
-        "selfdrive/navd/navd.py",
         "system/timed/timed.py",
         "tools/sim/run_bridge.py"
       ]
diff --git a/SConstruct b/SConstruct
index f53d8fb7d08d54..0c4dbee18e2a15 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,8 +14,6 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
-UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
-Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
@@ -213,8 +211,6 @@ env = Environment(
     "#cereal",
     "#msgq",
     "#opendbc/can",
-    "#third_party/maplibre-native-qt/include",
-    f"#third_party/maplibre-native-qt/{arch}/include"
   ],
 
   CC='clang',
@@ -279,7 +275,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -332,8 +328,7 @@ qt_flags = [
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
-qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 if GetOption("clazy"):
diff --git a/common/params.cc b/common/params.cc
index 2330160173ffb6..6e6bba8867880e 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -91,7 +91,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -160,11 +159,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LongitudinalPersonality", PERSISTENT},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavPastDestinations", PERSISTENT},
-    {"NavSettingLeftSide", PERSISTENT},
-    {"NavSettingTime24h", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 3b89fe98747200..0d65423c0854ba 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -50,8 +50,6 @@ qt
 ""
 .. autodoxygenindex::
    :project: selfdrive_ui_qt_offroad
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_maps
 
 proclogd
 ^^^^^^^^
diff --git a/poetry.lock b/poetry.lock
index 58fa7dee667abc..d81773b9f286ab 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2730,7 +2730,6 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
     {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
@@ -2740,8 +2739,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
     {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
 ]
 
 [[package]]
@@ -2752,7 +2751,6 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:a09ed50ba21cc5bf5d436cb0e784ad09c692d6b1d1454252772f6c8f2c7b4088"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"},
     {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"},
@@ -2762,8 +2760,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
     {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
 ]
 
 [[package]]
@@ -2927,8 +2925,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.23.2", markers = "python_version == \"3.11\""},
     {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+    {version = ">=1.23.2", markers = "python_version == \"3.11\""},
 ]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
@@ -3090,21 +3088,6 @@ files = [
 dev = ["pre-commit", "tox"]
 testing = ["pytest", "pytest-benchmark"]
 
-[[package]]
-name = "polyline"
-version = "2.0.2"
-description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "polyline-2.0.2-py3-none-any.whl", hash = "sha256:389655c893bdabf2863c6aaa49490cf83dcdcec86ae715f67044ee98be57bef5"},
-    {file = "polyline-2.0.2.tar.gz", hash = "sha256:10541e759c5fd51f746ee304e9af94744089a4055b6257b293b3afd1df64e369"},
-]
-
-[package.extras]
-dev = ["pylint (>=3.0.3,<3.1.0)", "pytest (>=7.0,<8.0)", "pytest-cov (>=4.0,<5.0)", "sphinx (>=5.3.0,<5.4.0)", "sphinx-rtd-theme (>=1.2.0,<1.3.0)", "toml (>=0.10.2,<0.11.0)"]
-publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
-
 [[package]]
 name = "portalocker"
 version = "2.8.2"
@@ -8114,4 +8097,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "32df734a6ad6ad6a665c94c41cd0e3643a48174904faaf6f21c5c84f350f3cec"
+content-hash = "163f468ff6cad9a08ccf51dfad6ef024ecc0037a0fbbcdbf2fb3b4e95ac3e744"
diff --git a/pyproject.toml b/pyproject.toml
index 374b0f46cafaec..1aa20b5b8e9887 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,6 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
-  "selfdrive/navd/tests",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
@@ -183,7 +182,6 @@ natsort = "*"
 opencv-python-headless = "*"
 parameterized = "^0.8"
 #pprofile = "*"
-polyline = "*"
 pyautogui = "*"
 pygame = "*"
 pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index 52898f758f2ae7..0b49e69116f395 100644
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -2,6 +2,5 @@ SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
-SConscript(['navd/SConscript'])
 SConscript(['modeld/SConscript'])
 SConscript(['ui/SConscript'])
\ No newline at end of file
diff --git a/selfdrive/assets/img_map.png b/selfdrive/assets/img_map.png
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deleted file mode 100644
index 321cef4163007d..00000000000000
--- a/selfdrive/assets/navigation/home.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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-version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/assets/navigation/home_inactive.png b/selfdrive/assets/navigation/home_inactive.png
deleted file mode 100644
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--- a/selfdrive/assets/navigation/home_inactive.png
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diff --git a/selfdrive/assets/navigation/icon_directions.svg b/selfdrive/assets/navigation/icon_directions.svg
deleted file mode 100644
index c36e27316e1a8f..00000000000000
--- a/selfdrive/assets/navigation/icon_directions.svg
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-version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/assets/navigation/icon_directions_outlined.svg b/selfdrive/assets/navigation/icon_directions_outlined.svg
deleted file mode 100644
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--- a/selfdrive/assets/navigation/icon_directions_outlined.svg
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diff --git a/selfdrive/assets/navigation/icon_favorite.svg b/selfdrive/assets/navigation/icon_favorite.svg
deleted file mode 100644
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg
deleted file mode 100644
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--- a/selfdrive/assets/navigation/icon_recent.svg
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diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg
deleted file mode 100644
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diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg
deleted file mode 100644
index dc18914a3943fa..00000000000000
--- a/selfdrive/assets/navigation/icon_work.svg
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-version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/assets/navigation/work.png b/selfdrive/assets/navigation/work.png
deleted file mode 100644
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--- a/selfdrive/assets/navigation/work.png
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-version https://git-lfs.github.com/spec/v1
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-size 5570
diff --git a/selfdrive/assets/navigation/work.svg b/selfdrive/assets/navigation/work.svg
deleted file mode 100644
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--- a/selfdrive/assets/navigation/work.svg
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-version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/assets/navigation/work_inactive.png b/selfdrive/assets/navigation/work_inactive.png
deleted file mode 100644
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diff --git a/selfdrive/assets/offroad/icon_map.png b/selfdrive/assets/offroad/icon_map.png
deleted file mode 100644
index 82c0236a48d28d..00000000000000
--- a/selfdrive/assets/offroad/icon_map.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 28235
diff --git a/selfdrive/assets/offroad/icon_map_speed.png b/selfdrive/assets/offroad/icon_map_speed.png
deleted file mode 100644
index 4ed1de314b30d4..00000000000000
--- a/selfdrive/assets/offroad/icon_map_speed.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
deleted file mode 100644
index 4801d60a2c86c8..00000000000000
--- a/selfdrive/navd/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-moc_*
-*.moc
-
-mapsd
-map_renderer
-libmap_renderer.so
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
deleted file mode 100644
index 81de8ae39f6c09..00000000000000
--- a/selfdrive/navd/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# navigation
-
-This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
-
-### navd
-
-`navd` takes in a route through the `NavDestination` param and sends out two packets: `navRoute` and `navInstruction`. These packets contain the coordinates of the planned route and turn-by-turn instructions.
-
-### map renderer
-
-The map renderer listens for the `navRoute` and publishes a simplified rendered map view over VisionIPC. The rendered maps look like this:
-
-![](https://i.imgur.com/oZLfmwq.png)
-
-## development
-
-Currently, [mapbox](https://www.mapbox.com/) is used for navigation.
-
-* get an API token: https://docs.mapbox.com/help/glossary/access-token/
-* set an API token using the `MAPBOX_TOKEN` environment variable
-* routes/destinations are set through the `NavDestination` param
-  * use `set_destination.py` for debugging
-* edit the map: https://www.mapbox.com/contribute
-* mapbox API playground: https://docs.mapbox.com/playground/
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
deleted file mode 100644
index 378e7624942e75..00000000000000
--- a/selfdrive/navd/SConscript
+++ /dev/null
@@ -1,20 +0,0 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
-
-map_env = qt_env.Clone()
-libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
-        'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
-if arch == 'larch64':
-  libs.append(':libEGL_mesa.so.0')
-
-if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
-  if arch == 'x86_64':
-    rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
-    map_env["RPATH"] += [rpath, ]
-
-  style_path = File("style.json").abspath
-  map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
-
-  map_env["RPATH"].append(Dir('.').abspath)
-  map_env["LIBPATH"].append(Dir('.').abspath)
-  maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  # map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/__init__.py b/selfdrive/navd/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py
deleted file mode 100644
index 0f0410c2c7ccda..00000000000000
--- a/selfdrive/navd/helpers.py
+++ /dev/null
@@ -1,189 +0,0 @@
-from __future__ import annotations
-
-import json
-import math
-from typing import Any, cast
-
-from openpilot.common.conversions import Conversions
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-
-DIRECTIONS = ('left', 'right', 'straight')
-MODIFIABLE_DIRECTIONS = ('left', 'right')
-
-EARTH_MEAN_RADIUS = 6371007.2
-SPEED_CONVERSIONS = {
-    'km/h': Conversions.KPH_TO_MS,
-    'mph': Conversions.MPH_TO_MS,
-  }
-
-
-class Coordinate:
-  def __init__(self, latitude: float, longitude: float) -> None:
-    self.latitude = latitude
-    self.longitude = longitude
-    self.annotations: dict[str, float] = {}
-
-  @classmethod
-  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
-    return cls(t[1], t[0])
-
-  def as_dict(self) -> dict[str, float]:
-    return {'latitude': self.latitude, 'longitude': self.longitude}
-
-  def __str__(self) -> str:
-    return f'Coordinate({self.latitude}, {self.longitude})'
-
-  def __repr__(self) -> str:
-    return self.__str__()
-
-  def __eq__(self, other) -> bool:
-    if not isinstance(other, Coordinate):
-      return False
-    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
-
-  def __sub__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
-
-  def __add__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
-
-  def __mul__(self, c: float) -> Coordinate:
-    return Coordinate(self.latitude * c, self.longitude * c)
-
-  def dot(self, other: Coordinate) -> float:
-    return self.latitude * other.latitude + self.longitude * other.longitude
-
-  def distance_to(self, other: Coordinate) -> float:
-    # Haversine formula
-    dlat = math.radians(other.latitude - self.latitude)
-    dlon = math.radians(other.longitude - self.longitude)
-
-    haversine_dlat = math.sin(dlat / 2.0)
-    haversine_dlat *= haversine_dlat
-    haversine_dlon = math.sin(dlon / 2.0)
-    haversine_dlon *= haversine_dlon
-
-    y = haversine_dlat \
-             + math.cos(math.radians(self.latitude)) \
-             * math.cos(math.radians(other.latitude)) \
-             * haversine_dlon
-    x = 2 * math.asin(math.sqrt(y))
-    return x * EARTH_MEAN_RADIUS
-
-
-def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
-  if a.distance_to(b) < 0.01:
-    return a.distance_to(p)
-
-  ap = p - a
-  ab = b - a
-  t = clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
-  projection = a + ab * t
-  return projection.distance_to(p)
-
-
-def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
-  if len(geometry) <= 2:
-    return geometry[0].distance_to(pos)
-
-  # 1. Find segment that is closest to current position
-  # 2. Total distance is sum of distance to start of closest segment
-  #    + all previous segments
-  total_distance = 0.0
-  total_distance_closest = 0.0
-  closest_distance = 1e9
-
-  for i in range(len(geometry) - 1):
-    d = minimum_distance(geometry[i], geometry[i + 1], pos)
-
-    if d < closest_distance:
-      closest_distance = d
-      total_distance_closest = total_distance + geometry[i].distance_to(pos)
-
-    total_distance += geometry[i].distance_to(geometry[i + 1])
-
-  return total_distance_closest
-
-
-def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
-  if params is None:
-    params = Params()
-
-  json_str = params.get(param)
-  if json_str is None:
-    return None
-
-  pos = json.loads(json_str)
-  if 'latitude' not in pos or 'longitude' not in pos:
-    return None
-
-  return Coordinate(pos['latitude'], pos['longitude'])
-
-
-def string_to_direction(direction: str) -> str:
-  for d in DIRECTIONS:
-    if d in direction:
-      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
-        return 'slight' + d.capitalize()
-      return d
-  return 'none'
-
-
-def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
-  unit = cast(str, maxspeed['unit'])
-  speed = cast(float, maxspeed['speed'])
-  return SPEED_CONVERSIONS[unit] * speed
-
-
-def field_valid(dat: dict, field: str) -> bool:
-  return field in dat and dat[field] is not None
-
-
-def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
-  if not len(banners):
-    return None
-
-  instruction = {}
-
-  # A segment can contain multiple banners, find one that we need to show now
-  current_banner = banners[0]
-  for banner in banners:
-    if distance_to_maneuver < banner['distanceAlongGeometry']:
-      current_banner = banner
-
-  # Only show banner when close enough to maneuver
-  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
-
-  # Primary
-  p = current_banner['primary']
-  if field_valid(p, 'text'):
-    instruction['maneuverPrimaryText'] = p['text']
-  if field_valid(p, 'type'):
-    instruction['maneuverType'] = p['type']
-  if field_valid(p, 'modifier'):
-    instruction['maneuverModifier'] = p['modifier']
-
-  # Secondary
-  if field_valid(current_banner, 'secondary'):
-    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
-
-  # Lane lines
-  if field_valid(current_banner, 'sub'):
-    lanes = []
-    for component in current_banner['sub']['components']:
-      if component['type'] != 'lane':
-        continue
-
-      lane = {
-        'active': component['active'],
-        'directions': [string_to_direction(d) for d in component['directions']],
-      }
-
-      if field_valid(component, 'active_direction'):
-        lane['activeDirection'] = string_to_direction(component['active_direction'])
-
-      lanes.append(lane)
-    instruction['lanes'] = lanes
-
-  return instruction
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
deleted file mode 100644
index 2e7b4d3b60fc61..00000000000000
--- a/selfdrive/navd/main.cc
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <csignal>
-#include <sys/resource.h>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/navd/map_renderer.h"
-#include "system/hardware/hw.h"
-
-int main(int argc, char *argv[]) {
-  Hardware::config_cpu_rendering(true);
-
-  qInstallMessageHandler(swagLogMessageHandler);
-  setpriority(PRIO_PROCESS, 0, -20);
-  int ret = util::set_core_affinity({0, 1, 2, 3});
-  assert(ret == 0);
-
-  QApplication app(argc, argv);
-  std::signal(SIGINT, sigTermHandler);
-  std::signal(SIGTERM, sigTermHandler);
-
-  MapRenderer * m = new MapRenderer(get_mapbox_settings());
-  assert(m);
-
-  return app.exec();
-}
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
deleted file mode 100644
index 1e57ad3e7c9f88..00000000000000
--- a/selfdrive/navd/map_renderer.cc
+++ /dev/null
@@ -1,338 +0,0 @@
-#include "selfdrive/navd/map_renderer.h"
-
-#include <cmath>
-#include <string>
-#include <QApplication>
-#include <QBuffer>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 256, WIDTH = 256;
-const int NUM_VIPC_BUFFERS = 4;
-
-const int EARTH_CIRCUMFERENCE_METERS = 40075000;
-const int EARTH_RADIUS_METERS = 6378137;
-const int PIXELS_PER_TILE = 256;
-const int MAP_OFFSET = 128;
-
-const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
-const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
-
-float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
-  float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
-  float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
-  return log2(num_tiles) - 1;
-}
-
-QMapLibre::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) {
-  float ang_dist = dist / EARTH_RADIUS_METERS;
-  float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing);
-  float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1));
-  float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2));
-  return QMapLibre::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2));
-}
-
-
-MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_settings(settings) {
-  QSurfaceFormat fmt;
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-
-  m_settings.setMapMode(QMapLibre::Settings::MapMode::Static);
-
-  ctx = std::make_unique<QOpenGLContext>();
-  ctx->setFormat(fmt);
-  ctx->create();
-  assert(ctx->isValid());
-
-  surface = std::make_unique<QOffscreenSurface>();
-  surface->setFormat(ctx->format());
-  surface->create();
-
-  ctx->makeCurrent(surface.get());
-  assert(QOpenGLContext::currentContext() == ctx.get());
-
-  gl_functions.reset(ctx->functions());
-  gl_functions->initializeOpenGLFunctions();
-
-  QOpenGLFramebufferObjectFormat fbo_format;
-  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
-
-  std::string style = util::read_file(STYLE_PATH);
-  m_map.reset(new QMapLibre::Map(nullptr, m_settings, fbo->size(), 1));
-  m_map->setCoordinateZoom(QMapLibre::Coordinate(0, 0), DEFAULT_ZOOM);
-  m_map->setStyleJson(style.c_str());
-  m_map->createRenderer();
-  ever_loaded = false;
-
-  m_map->resize(fbo->size());
-  m_map->setFramebufferObject(fbo->handle(), fbo->size());
-  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // Ignore expected signals
-    // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    if (ever_loaded) {
-      if (change != QMapLibre::Map::MapChange::MapChangeRegionWillChange &&
-          change != QMapLibre::Map::MapChange::MapChangeRegionDidChange &&
-          change != QMapLibre::Map::MapChange::MapChangeWillStartRenderingFrame &&
-          change != QMapLibre::Map::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
-        LOGD("New map state: %d", change);
-      }
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::staticRenderFinished, [=](const QString &error) {
-    rendering = false;
-
-    if (!error.isEmpty()) {
-      LOGE("Static map rendering failed with error: '%s'\n", error.toStdString().c_str());
-    } else if (vipc_server != nullptr) {
-      double end_render_t = millis_since_boot();
-      publish((end_render_t - start_render_t) / 1000.0, true);
-      last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
-    }
-  });
-
-  if (online) {
-    vipc_server.reset(new VisionIpcServer("navd"));
-    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
-    vipc_server->start_listener();
-
-    pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
-    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
-
-    timer = new QTimer(this);
-    timer->setSingleShot(true);
-    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
-    timer->start(0);
-  }
-}
-
-void MapRenderer::msgUpdate() {
-  sm->update(1000);
-
-  if (sm->updated("liveLocationKalman")) {
-    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-
-    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
-      float bearing = RAD2DEG(orientation.getValue()[2]);
-      updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
-
-      if (!rendering) {
-        update();
-      }
-
-      if (!rendered()) {
-        publish(0, false);
-      }
-    }
-
-
-  }
-
-  if (sm->updated("navRoute")) {
-    QList<QGeoCoordinate> route;
-    auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
-    for (auto const &c : coords) {
-      route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
-    }
-    updateRoute(route);
-  }
-
-  // schedule next update
-  timer->start(0);
-}
-
-void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing) {
-  if (m_map.isNull()) {
-    return;
-  }
-
-  // Choose a scale that ensures above 13 zoom level up to and above 75deg of lat
-  float meters_per_pixel = 2;
-  float zoom = get_zoom_level_for_scale(position.first, meters_per_pixel);
-
-  m_map->setCoordinate(position);
-  m_map->setBearing(bearing);
-  m_map->setZoom(zoom);
-  if (!rendering) {
-    update();
-  }
-}
-
-bool MapRenderer::loaded() {
-  return m_map->isFullyLoaded();
-}
-
-void MapRenderer::update() {
-  rendering = true;
-  gl_functions->glClear(GL_COLOR_BUFFER_BIT);
-  start_render_t = millis_since_boot();
-  m_map->startStaticRender();
-}
-
-void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initNavThumbnail();
-  thumbnaild.setFrameId(frame_id);
-  thumbnaild.setTimestampEof(ts);
-  thumbnaild.setThumbnail(buf);
-  pm->send("navThumbnail", msg);
-}
-
-void MapRenderer::publish(const double render_time, const bool loaded) {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-  bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
-  ever_loaded = ever_loaded || loaded;
-  uint64_t ts = nanos_since_boot();
-  VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
-  VisionIpcBufExtra extra = {
-    .frame_id = frame_id,
-    .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
-    .timestamp_eof = ts,
-    .valid = valid,
-  };
-
-  assert(cap.sizeInBytes() >= buf->len);
-  uint8_t* dst = (uint8_t*)buf->addr;
-  uint8_t* src = cap.bits();
-
-  // RGB to greyscale
-  memset(dst, 128, buf->len);
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  vipc_server->send(buf, &extra);
-
-  // Send thumbnail
-  if (TEST_MODE) {
-    // Full image in thumbnails in test mode
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)cap.bits(), cap.sizeInBytes());
-    sendThumbnail(ts, buffer_kj);
-  } else if (frame_id % 100 == 0) {
-    // Write jpeg into buffer
-    QByteArray buffer_bytes;
-    QBuffer buffer(&buffer_bytes);
-    buffer.open(QIODevice::WriteOnly);
-    cap.save(&buffer, "JPG", 50);
-
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
-    sendThumbnail(ts, buffer_kj);
-  }
-
-  // Send state msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto state = evt.initMapRenderState();
-  evt.setValid(valid);
-  state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
-  state.setRenderTime(render_time);
-  state.setFrameId(frame_id);
-  pm->send("mapRenderState", msg);
-
-  frame_id++;
-}
-
-uint8_t* MapRenderer::getImage() {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  uint8_t* src = cap.bits();
-  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
-
-  // RGB to greyscale
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  return dst;
-}
-
-void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
-  if (m_map.isNull()) return;
-  initLayers();
-
-  auto route_points = coordinate_list_to_collection(coordinates);
-  QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-  QVariantMap navSource;
-  navSource["type"] = "geojson";
-  navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-  m_map->updateSource("navSource", navSource);
-  m_map->setLayoutProperty("navLayer", "visibility", "visible");
-}
-
-void MapRenderer::initLayers() {
-  if (!m_map->layerExists("navLayer")) {
-    LOGD("Initializing navLayer");
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-    m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
-    m_map->setPaintProperty("navLayer", "line-width", 5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-}
-
-MapRenderer::~MapRenderer() {
-}
-
-extern "C" {
-  MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
-    char *argv[] = {
-      (char*)"navd",
-      nullptr
-    };
-    int argc = 0;
-    QApplication *app = new QApplication(argc, argv);
-    assert(app);
-
-    QMapLibre::Settings settings;
-    settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-    settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
-    settings.setApiKey(token == nullptr ? get_mapbox_token() : token);
-
-    return new MapRenderer(settings, false);
-  }
-
-  void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
-    inst->updatePosition({lat, lon}, bearing);
-    QApplication::processEvents();
-  }
-
-  void map_renderer_update_route(MapRenderer *inst, char* polyline) {
-    inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
-  }
-
-  void map_renderer_update(MapRenderer *inst) {
-    inst->update();
-  }
-
-  void map_renderer_process(MapRenderer *inst) {
-    QApplication::processEvents();
-  }
-
-  bool map_renderer_loaded(MapRenderer *inst) {
-    return inst->loaded();
-  }
-
-  uint8_t * map_renderer_get_image(MapRenderer *inst) {
-    return inst->getImage();
-  }
-
-  void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
-    delete[] buf;
-  }
-}
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
deleted file mode 100644
index 956c1d54bc6a43..00000000000000
--- a/selfdrive/navd/map_renderer.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QOpenGLContext>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QTimer>
-#include <QGeoCoordinate>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
-#include <QOpenGLFunctions>
-#include <QOpenGLFramebufferObject>
-
-#include "msgq/visionipc/visionipc_server.h"
-#include "cereal/messaging/messaging.h"
-
-
-class MapRenderer : public QObject {
-  Q_OBJECT
-
-public:
-  MapRenderer(const QMapLibre::Settings &, bool online=true);
-  uint8_t* getImage();
-  void update();
-  bool loaded();
-  ~MapRenderer();
-
-private:
-  std::unique_ptr<QOpenGLContext> ctx;
-  std::unique_ptr<QOffscreenSurface> surface;
-  std::unique_ptr<QOpenGLFunctions> gl_functions;
-  std::unique_ptr<QOpenGLFramebufferObject> fbo;
-
-  std::unique_ptr<VisionIpcServer> vipc_server;
-  std::unique_ptr<PubMaster> pm;
-  std::unique_ptr<SubMaster> sm;
-  void publish(const double render_time, const bool loaded);
-  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  double start_render_t;
-  uint32_t frame_id = 0;
-  uint64_t last_llk_rendered = 0;
-  bool rendering = false;
-  bool rendered() {
-    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
-  }
-
-  QTimer* timer;
-  bool ever_loaded = false;
-
-public slots:
-  void updatePosition(QMapLibre::Coordinate position, float bearing);
-  void updateRoute(QList<QGeoCoordinate> coordinates);
-  void msgUpdate();
-};
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
deleted file mode 100755
index e44b883436cb0b..00000000000000
--- a/selfdrive/navd/map_renderer.py
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-# You might need to uninstall the PyQt5 pip package to avoid conflicts
-
-import os
-import time
-import numpy as np
-import polyline
-from cffi import FFI
-
-from openpilot.common.ffi_wrapper import suffix
-from openpilot.common.basedir import BASEDIR
-
-HEIGHT = WIDTH = SIZE = 256
-METERS_PER_PIXEL = 2
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("""
-void* map_renderer_init(char *maps_host, char *token);
-void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
-void map_renderer_update_route(void *inst, char *polyline);
-void map_renderer_update(void *inst);
-void map_renderer_process(void *inst);
-bool map_renderer_loaded(void *inst);
-uint8_t* map_renderer_get_image(void *inst);
-void map_renderer_free_image(void *inst, uint8_t *buf);
-""")
-  return ffi, ffi.dlopen(lib)
-
-
-def wait_ready(lib, renderer, timeout=None):
-  st = time.time()
-  while not lib.map_renderer_loaded(renderer):
-    lib.map_renderer_update(renderer)
-
-    # The main qt app is not execed, so we need to periodically process events for e.g. network requests
-    lib.map_renderer_process(renderer)
-
-    time.sleep(0.01)
-
-    if timeout is not None and time.time() - st > timeout:
-      raise TimeoutError("Timeout waiting for map renderer to be ready")
-
-
-def get_image(lib, renderer):
-  buf = lib.map_renderer_get_image(renderer)
-  r = list(buf[0:WIDTH * HEIGHT])
-  lib.map_renderer_free_image(renderer, buf)
-
-  # Convert to numpy
-  r = np.asarray(r)
-  return r.reshape((WIDTH, HEIGHT))
-
-
-def navRoute_to_polyline(nr):
-  coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates]
-  return coords_to_polyline(coords)
-
-
-def coords_to_polyline(coords):
-  # TODO: where does this factor of 10 come from?
-  return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
-
-
-def polyline_to_coords(p):
-  coords = polyline.decode(p)
-  return [(lat / 10., lon / 10.) for lat, lon in coords]
-
-
-
-if __name__ == "__main__":
-  import matplotlib.pyplot as plt
-
-  ffi, lib = get_ffi()
-  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
-  wait_ready(lib, renderer)
-
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
-  lib.map_renderer_update_route(renderer, geometry.encode())
-
-  POSITIONS = [
-    (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45),  # San Diego
-    (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45),  # Amsterdam
-  ]
-  plt.figure()
-
-  for i, pos in enumerate(POSITIONS):
-    t = time.time()
-    lib.map_renderer_update_position(renderer, *pos)
-    wait_ready(lib, renderer)
-
-    print(f"{pos} took {time.time() - t:.2f} s")
-
-    plt.subplot(2, 2, i + 1)
-    plt.imshow(get_image(lib, renderer), cmap='gray')
-
-  plt.show()
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
deleted file mode 100755
index 8cfc495f272a40..00000000000000
--- a/selfdrive/navd/navd.py
+++ /dev/null
@@ -1,368 +0,0 @@
-#!/usr/bin/env python3
-import json
-import math
-import os
-import threading
-
-import requests
-
-import cereal.messaging as messaging
-from cereal import log
-from openpilot.common.api import Api
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
-                                    distance_along_geometry, maxspeed_to_ms,
-                                    minimum_distance,
-                                    parse_banner_instructions)
-from openpilot.common.swaglog import cloudlog
-
-REROUTE_DISTANCE = 25
-MANEUVER_TRANSITION_THRESHOLD = 10
-REROUTE_COUNTER_MIN = 3
-
-
-class RouteEngine:
-  def __init__(self, sm, pm):
-    self.sm = sm
-    self.pm = pm
-
-    self.params = Params()
-
-    # Get last gps position from params
-    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
-    self.last_bearing = None
-
-    self.gps_ok = False
-    self.localizer_valid = False
-
-    self.nav_destination = None
-    self.step_idx = None
-    self.route = None
-    self.route_geometry = None
-
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-    self.ui_pid = None
-
-    self.reroute_counter = 0
-
-
-    self.api = None
-    self.mapbox_token = None
-    if "MAPBOX_TOKEN" in os.environ:
-      self.mapbox_token = os.environ["MAPBOX_TOKEN"]
-      self.mapbox_host = "https://api.mapbox.com"
-    else:
-      self.api = Api(self.params.get("DongleId", encoding='utf8'))
-      self.mapbox_host = "https://maps.comma.ai"
-
-  def update(self):
-    self.sm.update(0)
-
-    if self.sm.updated["managerState"]:
-      ui_pid = [p.pid for p in self.sm["managerState"].processes if p.name == "ui" and p.running]
-      if ui_pid:
-        if self.ui_pid and self.ui_pid != ui_pid[0]:
-          cloudlog.warning("UI restarting, sending route")
-          threading.Timer(5.0, self.send_route).start()
-        self.ui_pid = ui_pid[0]
-
-    self.update_location()
-    try:
-      self.recompute_route()
-      self.send_instruction()
-    except Exception:
-      cloudlog.exception("navd.failed_to_compute")
-
-  def update_location(self):
-    location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
-
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
-
-    if self.localizer_valid:
-      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-
-  def recompute_route(self):
-    if self.last_position is None:
-      return
-
-    new_destination = coordinate_from_param("NavDestination", self.params)
-    if new_destination is None:
-      self.clear_route()
-      self.reset_recompute_limits()
-      return
-
-    should_recompute = self.should_recompute()
-    if new_destination != self.nav_destination:
-      cloudlog.warning(f"Got new destination from NavDestination param {new_destination}")
-      should_recompute = True
-
-    # Don't recompute when GPS drifts in tunnels
-    if not self.gps_ok and self.step_idx is not None:
-      return
-
-    if self.recompute_countdown == 0 and should_recompute:
-      self.recompute_countdown = 2**self.recompute_backoff
-      self.recompute_backoff = min(6, self.recompute_backoff + 1)
-      self.calculate_route(new_destination)
-      self.reroute_counter = 0
-    else:
-      self.recompute_countdown = max(0, self.recompute_countdown - 1)
-
-  def calculate_route(self, destination):
-    cloudlog.warning(f"Calculating route {self.last_position} -> {destination}")
-    self.nav_destination = destination
-
-    lang = self.params.get('LanguageSetting', encoding='utf8')
-    if lang is not None:
-      lang = lang.replace('main_', '')
-
-    token = self.mapbox_token
-    if token is None:
-      token = self.api.get_token()
-
-    params = {
-      'access_token': token,
-      'annotations': 'maxspeed',
-      'geometries': 'geojson',
-      'overview': 'full',
-      'steps': 'true',
-      'banner_instructions': 'true',
-      'alternatives': 'false',
-      'language': lang,
-    }
-
-    # TODO: move waypoints into NavDestination param?
-    waypoints = self.params.get('NavDestinationWaypoints', encoding='utf8')
-    waypoint_coords = []
-    if waypoints is not None and len(waypoints) > 0:
-      waypoint_coords = json.loads(waypoints)
-
-    coords = [
-      (self.last_position.longitude, self.last_position.latitude),
-      *waypoint_coords,
-      (destination.longitude, destination.latitude)
-    ]
-    params['waypoints'] = f'0;{len(coords)-1}'
-    if self.last_bearing is not None:
-      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90" + (';'*(len(coords)-1))
-
-    coords_str = ';'.join([f'{lon},{lat}' for lon, lat in coords])
-    url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str
-    try:
-      resp = requests.get(url, params=params, timeout=10)
-      if resp.status_code != 200:
-        cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True)
-      resp.raise_for_status()
-
-      r = resp.json()
-      if len(r['routes']):
-        self.route = r['routes'][0]['legs'][0]['steps']
-        self.route_geometry = []
-
-        maxspeed_idx = 0
-        maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
-
-        # Convert coordinates
-        for step in self.route:
-          coords = []
-
-          for c in step['geometry']['coordinates']:
-            coord = Coordinate.from_mapbox_tuple(c)
-
-            # Last step does not have maxspeed
-            if (maxspeed_idx < len(maxspeeds)):
-              maxspeed = maxspeeds[maxspeed_idx]
-              if ('unknown' not in maxspeed) and ('none' not in maxspeed):
-                coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed)
-
-            coords.append(coord)
-            maxspeed_idx += 1
-
-          self.route_geometry.append(coords)
-          maxspeed_idx -= 1  # Every segment ends with the same coordinate as the start of the next
-
-        self.step_idx = 0
-      else:
-        cloudlog.warning("Got empty route response")
-        self.clear_route()
-
-      # clear waypoints to avoid a re-route including past waypoints
-      # TODO: only clear once we're past a waypoint
-      self.params.remove('NavDestinationWaypoints')
-
-    except requests.exceptions.RequestException:
-      cloudlog.exception("failed to get route")
-      self.clear_route()
-
-    self.send_route()
-
-  def send_instruction(self):
-    msg = messaging.new_message('navInstruction', valid=True)
-
-    if self.step_idx is None:
-      msg.valid = False
-      self.pm.send('navInstruction', msg)
-      return
-
-    step = self.route[self.step_idx]
-    geometry = self.route_geometry[self.step_idx]
-    along_geometry = distance_along_geometry(geometry, self.last_position)
-    distance_to_maneuver_along_geometry = step['distance'] - along_geometry
-
-    # Banner instructions are for the following maneuver step, don't use empty last step
-    banner_step = step
-    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
-      banner_step = self.route[max(self.step_idx - 1, 0)]
-
-    # Current instruction
-    msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
-    if instruction is not None:
-      for k,v in instruction.items():
-        setattr(msg.navInstruction, k, v)
-
-    # All instructions
-    maneuvers = []
-    for i, step_i in enumerate(self.route):
-      if i < self.step_idx:
-        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
-      elif i == self.step_idx:
-        distance_to_maneuver = distance_to_maneuver_along_geometry
-      else:
-        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))
-
-      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
-      if instruction is None:
-        continue
-      maneuver = {'distance': distance_to_maneuver}
-      if 'maneuverType' in instruction:
-        maneuver['type'] = instruction['maneuverType']
-      if 'maneuverModifier' in instruction:
-        maneuver['modifier'] = instruction['maneuverModifier']
-      maneuvers.append(maneuver)
-
-    msg.navInstruction.allManeuvers = maneuvers
-
-    # Compute total remaining time and distance
-    remaining = 1.0 - along_geometry / max(step['distance'], 1)
-    total_distance = step['distance'] * remaining
-    total_time = step['duration'] * remaining
-
-    if step['duration_typical'] is None:
-      total_time_typical = total_time
-    else:
-      total_time_typical = step['duration_typical'] * remaining
-
-    # Add up totals for future steps
-    for i in range(self.step_idx + 1, len(self.route)):
-      total_distance += self.route[i]['distance']
-      total_time += self.route[i]['duration']
-      if self.route[i]['duration_typical'] is None:
-        total_time_typical += self.route[i]['duration']
-      else:
-        total_time_typical += self.route[i]['duration_typical']
-
-    msg.navInstruction.distanceRemaining = total_distance
-    msg.navInstruction.timeRemaining = total_time
-    msg.navInstruction.timeRemainingTypical = total_time_typical
-
-    # Speed limit
-    closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position))
-    if closest_idx > 0:
-      # If we are not past the closest point, show previous
-      if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
-        closest = geometry[closest_idx - 1]
-
-    if ('maxspeed' in closest.annotations) and self.localizer_valid:
-      msg.navInstruction.speedLimit = closest.annotations['maxspeed']
-
-    # Speed limit sign type
-    if 'speedLimitSign' in step:
-      if step['speedLimitSign'] == 'mutcd':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
-      elif step['speedLimitSign'] == 'vienna':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
-
-    self.pm.send('navInstruction', msg)
-
-    # Transition to next route segment
-    if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
-      if self.step_idx + 1 < len(self.route):
-        self.step_idx += 1
-        self.reset_recompute_limits()
-      else:
-        cloudlog.warning("Destination reached")
-
-        # Clear route if driving away from destination
-        dist = self.nav_destination.distance_to(self.last_position)
-        if dist > REROUTE_DISTANCE:
-          self.params.remove("NavDestination")
-          self.clear_route()
-
-  def send_route(self):
-    coords = []
-
-    if self.route is not None:
-      for path in self.route_geometry:
-        coords += [c.as_dict() for c in path]
-
-    msg = messaging.new_message('navRoute', valid=True)
-    msg.navRoute.coordinates = coords
-    self.pm.send('navRoute', msg)
-
-  def clear_route(self):
-    self.route = None
-    self.route_geometry = None
-    self.step_idx = None
-    self.nav_destination = None
-
-  def reset_recompute_limits(self):
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-  def should_recompute(self):
-    if self.step_idx is None or self.route is None:
-      return True
-
-    # Don't recompute in last segment, assume destination is reached
-    if self.step_idx == len(self.route) - 1:
-      return False
-
-    # Compute closest distance to all line segments in the current path
-    min_d = REROUTE_DISTANCE + 1
-    path = self.route_geometry[self.step_idx]
-    for i in range(len(path) - 1):
-      a = path[i]
-      b = path[i + 1]
-
-      if a.distance_to(b) < 1.0:
-        continue
-
-      min_d = min(min_d, minimum_distance(a, b, self.last_position))
-
-    if min_d > REROUTE_DISTANCE:
-      self.reroute_counter += 1
-    else:
-      self.reroute_counter = 0
-    return self.reroute_counter > REROUTE_COUNTER_MIN
-    # TODO: Check for going wrong way in segment
-
-
-def main():
-  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
-
-  rk = Ratekeeper(1.0)
-  route_engine = RouteEngine(sm, pm)
-  while True:
-    route_engine.update()
-    rk.keep_time()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py
deleted file mode 100755
index 811aa576d1ef89..00000000000000
--- a/selfdrive/navd/set_destination.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import json
-import sys
-
-from openpilot.common.params import Params
-
-if __name__ == "__main__":
-  params = Params()
-
-  # set from google maps url
-  if len(sys.argv) > 1:
-    coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",")
-    dest = {
-      "latitude": float(coords[0]),
-      "longitude": float(coords[1])
-    }
-    params.put("NavDestination", json.dumps(dest))
-    params.remove("NavDestinationWaypoints")
-  else:
-    print("Setting to Taco Bell")
-    dest = {
-      "latitude": 32.71160109904473,
-      "longitude": -117.12556569985693,
-    }
-    params.put("NavDestination", json.dumps(dest))
-
-    waypoints = [
-      (-117.16020713111648, 32.71997612490662),
-    ]
-    params.put("NavDestinationWaypoints", json.dumps(waypoints))
-
-    print(dest)
-    print(waypoints)
diff --git a/selfdrive/navd/style.json b/selfdrive/navd/style.json
deleted file mode 100644
index 06bb750d1ffdc6..00000000000000
--- a/selfdrive/navd/style.json
+++ /dev/null
@@ -1 +0,0 @@
-{"version": 8, "name": "Navigation Model", "metadata": {"mapbox:type": "default", "mapbox:origin": "monochrome-dark-v1", "mapbox:sdk-support": {"android": "10.0.0", "ios": "10.0.0", "js": "2.3.0"}, "mapbox:autocomposite": true, "mapbox:groups": {"Transit, transit-labels": {"name": "Transit, transit-labels", "collapsed": true}, "Administrative boundaries, admin": {"name": "Administrative boundaries, admin", "collapsed": true}, "Transit, bridges": {"name": "Transit, bridges", "collapsed": true}, "Transit, surface": {"name": "Transit, surface", "collapsed": true}, "Road network, bridges": {"name": "Road network, bridges", "collapsed": false}, "Land, water, & sky, water": {"name": "Land, water, & sky, water", "collapsed": true}, "Road network, tunnels": {"name": "Road network, tunnels", "collapsed": false}, "Road network, road-labels": {"name": "Road network, road-labels", "collapsed": true}, "Buildings, built": {"name": "Buildings, built", "collapsed": true}, "Natural features, natural-labels": {"name": "Natural features, natural-labels", "collapsed": true}, "Road network, surface": {"name": "Road network, surface", "collapsed": false}, "Land, water, & sky, built": {"name": "Land, water, & sky, built", "collapsed": true}, "Place labels, place-labels": {"name": "Place labels, place-labels", "collapsed": true}, "Point of interest labels, poi-labels": {"name": "Point of interest labels, poi-labels", "collapsed": true}, "Road network, tunnels-case": {"name": "Road network, tunnels-case", "collapsed": true}, "Transit, built": {"name": "Transit, built", "collapsed": true}, "Road network, surface-icons": {"name": "Road network, surface-icons", "collapsed": false}, "Land, water, & sky, land": {"name": "Land, water, & sky, land", "collapsed": true}}}, "center": [-117.19189443261149, 32.756553679559985], "zoom": 12.932776547838778, "bearing": 0, "pitch": 0.5017568344510897, "sources": {"composite": {"url": "mapbox://mapbox.mapbox-streets-v8", "type": "vector", "maxzoom": 13}}, "sprite": "mapbox://sprites/commaai/ckvmksrpd4n0a14pfdo5heqzr/bkx9h9tjdf3xedbnjvfo5xnbv", "glyphs": "mapbox://fonts/mapbox/{fontstack}/{range}.pbf", "layers": [{"id": "land", "type": "background", "layout": {"visibility": "none"}, "paint": {"background-color": "rgb(252, 252, 252)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["==", ["get", "class"], "national_park"], "type": "fill", "source": "composite", "id": "national-park", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, 0.5, 10, 0.5]}, "source-layer": "landuse_overlay"}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["match", ["get", "class"], ["park", "airport", "glacier", "pitch", "sand", "facility"], true, false], "type": "fill", "source": "composite", "id": "landuse", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, ["match", ["get", "class"], "glacier", 0.5, 1]]}, "source-layer": "landuse"}, {"id": "waterway-shadow", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(204, 204, 204)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "line-translate-anchor": "viewport", "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water-shadow", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(204, 204, 204)", "fill-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "fill-translate-anchor": "viewport"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "waterway", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(224, 224, 224)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(224, 224, 224)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["==", ["get", "class"], "land"]], "type": "fill", "source": "composite", "id": "land-structure-polygon", "paint": {"fill-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 13, "layout": {"line-cap": "round", "visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "LineString"], ["==", ["get", "class"], "land"]], "type": "line", "source": "composite", "id": "land-structure-line", "paint": {"line-width": ["interpolate", ["exponential", 1.99], ["zoom"], 14, 0.75, 20, 40], "line-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 11, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["match", ["get", "type"], ["runway", "taxiway", "helipad"], true, false]], "type": "fill", "source": "composite", "id": "aeroway-polygon", "paint": {"fill-color": "rgb(255, 255, 255)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 11, 0, 11.5, 1]}, "source-layer": "aeroway"}, {"minzoom": 9, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["==", ["geometry-type"], "LineString"], "type": "line", "source": "composite", "id": "aeroway-line", "paint": {"line-color": "rgb(255, 255, 255)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 9, ["match", ["get", "type"], "runway", 1, 0.5], 18, ["match", ["get", "type"], "runway", 80, 20]]}, "source-layer": "aeroway"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "line", "source": "composite", "id": "building-outline", "paint": {"line-color": "rgb(227, 227, 227)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 15, 0.75, 20, 3], "line-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1]}, "source-layer": "building"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "fill", "source": "composite", "id": "building", "paint": {"fill-color": ["interpolate", ["linear"], ["zoom"], 15, "rgb(242, 242, 242)", 16, "rgb(242, 242, 242)"], "fill-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1], "fill-outline-color": "rgb(227, 227, 227)"}, "source-layer": "building"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-low", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-color": "rgb(235, 235, 235)", "line-opacity": ["step", ["zoom"], 1, 14, 0]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-opacity": ["step", ["zoom"], 0, 14, 1], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["primary", "secondary", "tertiary"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-primary-secondary-tertiary-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, ["match", ["get", "class"], "primary", 1, 0.75], 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, ["match", ["get", "class"], "primary", 0.75, 0.1], 18, ["match", ["get", "class"], "primary", 32, 26]], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway", "trunk"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-motorway-trunk-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, 1, 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, 0.75, 18, 32], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["==", ["get", "class"], "construction"], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-construction", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)", "line-dasharray": ["step", ["zoom"], ["literal", [0.4, 0.8]], 15, ["literal", [0.3, 0.6]], 16, ["literal", [0.2, 0.3]], 17, ["literal", [0.2, 0.25]], 18, ["literal", [0.15, 0.15]]]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)"}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", 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"uppercase", "text-font": ["DIN Pro Bold", "Arial Unicode MS Bold"], "text-field": ["step", ["zoom"], ["step", ["get", "symbolrank"], ["coalesce", ["get", "name_en"], ["get", "name"]], 5, ["coalesce", ["get", "abbr"], ["get", "name_en"], ["get", "name"]]], 5, ["coalesce", ["get", "name_en"], ["get", "name"]]], "text-letter-spacing": 0.15, "text-max-width": 6, "visibility": "none"}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 9, "filter": ["match", ["get", "class"], "state", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_state", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "state-label", "paint": {"text-color": "rgb(184, 184, 184)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1}, "source-layer": "place_label"}, {"minzoom": 1, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", ["cubic-bezier", 0.2, 0, 0.7, 1], ["zoom"], 1, ["step", ["get", "symbolrank"], 11, 4, 9, 5, 8], 9, ["step", ["get", "symbolrank"], 22, 4, 19, 5, 17]], "text-radial-offset": ["step", ["zoom"], 0.6, 8, 0], "icon-image": "", "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-justify": ["step", ["zoom"], ["match", ["get", "text_anchor"], ["left", "bottom-left", "top-left"], "left", ["right", "bottom-right", "top-right"], "right", "center"], 7, "auto"], "visibility": "none", "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 6}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 10, "filter": ["match", ["get", "class"], "country", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_country", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "country-label", "paint": {"icon-opacity": ["step", ["zoom"], ["case", ["has", "text_anchor"], 1, 0], 7, 0], "text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1.25}, "source-layer": "place_label"}], "created": "2021-11-05T16:12:04.822Z", "modified": "2021-11-25T13:58:04.167Z", "id": "ckvmksrpd4n0a14pfdo5heqzr", "owner": "commaai", "visibility": "private", "protected": false, "draft": false}
\ No newline at end of file
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
deleted file mode 100644
index 04363883b2c0f4..00000000000000
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ /dev/null
@@ -1,212 +0,0 @@
-import time
-import numpy as np
-import os
-import pytest
-import requests
-import threading
-import http.server
-import cereal.messaging as messaging
-
-from typing import Any
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman
-from openpilot.selfdrive.test.helpers import with_processes
-
-CACHE_PATH = "/data/mbgl-cache-navd.db"
-
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
-LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
-
-
-class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
-  INTERNET_ACTIVE = True
-
-  def do_GET(self):
-    if not self.INTERNET_ACTIVE:
-      self.send_response(500)
-      self.end_headers()
-      return
-
-    url = f'https://api.mapbox.com{self.path}'
-
-    headers = dict(self.headers)
-    headers["Host"] = "api.mapbox.com"
-
-    r = requests.get(url, headers=headers, timeout=5)
-
-    self.send_response(r.status_code)
-    self.end_headers()
-    self.wfile.write(r.content)
-
-  def log_message(self, *args: Any) -> None:
-    return
-
-  def log_error(self, *args: Any) -> None:
-    return
-
-
-class MapBoxInternetDisabledServer(threading.Thread):
-  def run(self):
-    self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
-    self.port = self.server.server_port
-    self.server.serve_forever()
-
-  def stop(self):
-    self.server.shutdown()
-
-  def disable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
-
-  def enable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
-
-
-@pytest.mark.skip(reason="not used")
-class TestMapRenderer:
-  server: MapBoxInternetDisabledServer
-
-  @classmethod
-  def setup_class(cls):
-    assert "MAPBOX_TOKEN" in os.environ
-    cls.original_token = os.environ["MAPBOX_TOKEN"]
-    cls.server = MapBoxInternetDisabledServer()
-    cls.server.start()
-    time.sleep(0.5) # wait for server to startup
-
-  @classmethod
-  def teardown_class(cls) -> None:
-    cls.server.stop()
-
-  def setup_method(self):
-    self.server.enable_internet()
-    os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
-
-    self.sm = messaging.SubMaster(['mapRenderState'])
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-    self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
-
-    if os.path.exists(CACHE_PATH):
-      os.remove(CACHE_PATH)
-
-  def _setup_test(self):
-    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-
-    time.sleep(0.5)
-
-    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
-    assert self.vipc.connect(False)
-    self.vipc.recv()
-
-  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
-    starting_frame_id = None
-
-    render_times = []
-
-    # run test
-    prev_frame_id = -1
-    for i, location in enumerate(locations):
-      frame_expected = (i+1) % LLK_DECIMATION == 0
-
-      if self.sm.logMonoTime['mapRenderState'] == 0:
-        prev_valid = False
-        prev_frame_id = -1
-      else:
-        prev_valid = self.sm.valid['mapRenderState']
-        prev_frame_id = self.sm['mapRenderState'].frameId
-
-      if starting_frame_id is None:
-        starting_frame_id = prev_frame_id
-
-      llk = generate_liveLocationKalman(location)
-      self.pm.send("liveLocationKalman", llk)
-      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-      self.sm.update(1000 if frame_expected else 0)
-      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
-
-      if not frame_expected:
-        continue
-
-      frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
-
-      # give a few frames to switch from valid to invalid, or vice versa
-      invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
-      valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
-
-      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 20:
-        continue
-
-      # check output
-      assert self.sm.valid['mapRenderState'] == expect_valid
-      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
-      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
-      if not expect_valid:
-        assert self.sm['mapRenderState'].renderTime == 0.
-      else:
-        assert 0. < self.sm['mapRenderState'].renderTime < 0.1
-        render_times.append(self.sm['mapRenderState'].renderTime)
-
-      # check vision ipc output
-      assert self.vipc.recv() is not None
-      assert self.vipc.valid == expect_valid
-      assert self.vipc.timestamp_sof == llk.logMonoTime
-      assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
-
-    assert frames_since_test_start >= RENDER_FRAMES
-
-    return render_times
-
-  @with_processes(["mapsd"])
-  def test_with_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-  @with_processes(["mapsd"])
-  def test_with_no_internet(self):
-    self.server.disable_internet()
-    self._setup_test()
-    self._run_test(False)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.skip(reason="slow, flaky, and unlikely to break")
-  def test_recover_from_no_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-    self.server.disable_internet()
-
-    # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2_REPEATED)
-
-    self.server.enable_internet()
-    self._run_test(True, LOCATION2_REPEATED)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.tici
-  def test_render_time_distribution(self):
-    self._setup_test()
-    # from location1 -> location2 and back
-    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
-
-    render_times = self._run_test(True, locations)
-
-    _min = np.min(render_times)
-    _max = np.max(render_times)
-    _mean = np.mean(render_times)
-    _median = np.median(render_times)
-    _stddev = np.std(render_times)
-
-    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
-
-    def assert_stat(stat, nominal, tol=0.3):
-      tol = (nominal / (1+tol)), (nominal * (1+tol))
-      assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}"
-
-    assert_stat(_mean,   0.030)
-    assert_stat(_median, 0.027)
-    assert_stat(_stddev, 0.0078)
-
-    assert _max < 0.065
-    assert _min > 0.015
-
diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py
deleted file mode 100644
index b6580acff18a7a..00000000000000
--- a/selfdrive/navd/tests/test_navd.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import json
-import random
-import numpy as np
-
-from parameterized import parameterized
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestNavd:
-  def setup_method(self):
-    self.params = Params()
-    self.sm = messaging.SubMaster(['navRoute', 'navInstruction'])
-
-  def teardown_method(self):
-    managed_processes['navd'].stop()
-
-  def _check_route(self, start, end, check_coords=True):
-    self.params.put("NavDestination", json.dumps(end))
-    self.params.put("LastGPSPosition", json.dumps(start))
-
-    managed_processes['navd'].start()
-    for _ in range(30):
-      self.sm.update(1000)
-      if all(f > 0 for f in self.sm.recv_frame.values()):
-        break
-    else:
-      raise Exception("didn't get a route")
-
-    assert managed_processes['navd'].proc.is_alive()
-    managed_processes['navd'].stop()
-
-    # ensure start and end match up
-    if check_coords:
-      coords = self.sm['navRoute'].coordinates
-      assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']],
-                         [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude],
-                         rtol=1e-3)
-
-  def test_simple(self):
-    start = {
-      "latitude": 32.7427228,
-      "longitude": -117.2321177,
-    }
-    end = {
-      "latitude": 32.7557004,
-      "longitude": -117.268002,
-    }
-    self._check_route(start, end)
-
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_random(self, index):
-    start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    self._check_route(start, end, check_coords=False)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7b44a3b80eb8da..7574a5e4abce16 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -60,7 +60,6 @@
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
-  "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,
 }
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e4fb32586d2fd9..8b268b9e84878b 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -8,8 +8,6 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
-
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
@@ -24,13 +22,6 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
-qt_env['CPPDEFINES'] = []
-if maps:
-  base_libs += ['QMapLibre']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
-                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
-  qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
-
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 9dbe7cbae39b86..c510087e8e33df 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -9,10 +9,6 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#endif
-
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -145,13 +141,17 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
-    // left: MapSettings/PrimeAdWidget
+    // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
-#ifdef ENABLE_MAPS
-    left_widget->addWidget(new MapSettings);
-#else
-    left_widget->addWidget(new QWidget);
-#endif
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
 
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
deleted file mode 100644
index 490eb118cad047..00000000000000
--- a/selfdrive/ui/qt/maps/map.cc
+++ /dev/null
@@ -1,390 +0,0 @@
-#include "selfdrive/ui/qt/maps/map.h"
-
-#include <algorithm>
-#include <eigen3/Eigen/Dense>
-
-#include <QDebug>
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-
-const int INTERACTION_TIMEOUT = 100;
-
-const float MAX_ZOOM = 17;
-const float MIN_ZOOM = 14;
-const float MAX_PITCH = 50;
-const float MIN_PITCH = 0;
-const float MAP_SCALE = 2;
-
-MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
-
-  map_overlay = new QWidget (this);
-  map_overlay->setAttribute(Qt::WA_TranslucentBackground, true);
-  QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay);
-  overlay_layout->setContentsMargins(0, 0, 0, 0);
-
-  // Instructions
-  map_instructions = new MapInstructions(this);
-  map_instructions->setVisible(false);
-
-  map_eta = new MapETA(this);
-  map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
-  map_eta->setFixedHeight(120);
-
-  error = new QLabel(this);
-  error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)");
-  error->setAlignment(Qt::AlignCenter);
-
-  overlay_layout->addWidget(error);
-  overlay_layout->addWidget(map_instructions);
-  overlay_layout->addStretch(1);
-  overlay_layout->addWidget(map_eta);
-
-  last_position = coordinate_from_param("LastGPSPosition");
-  grabGesture(Qt::GestureType::PinchGesture);
-  qDebug() << "MapWindow initialized";
-}
-
-MapWindow::~MapWindow() {
-  makeCurrent();
-}
-
-void MapWindow::initLayers() {
-  // This doesn't work from initializeGL
-  if (!m_map->layerExists("modelPathLayer")) {
-    qDebug() << "Initializing modelPathLayer";
-    QVariantMap modelPath;
-    //modelPath["id"] = "modelPathLayer";
-    modelPath["type"] = "line";
-    modelPath["source"] = "modelPathSource";
-    m_map->addLayer("modelPathLayer", modelPath);
-    m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
-    m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
-    m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("navLayer")) {
-    qDebug() << "Initializing navLayer";
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-
-    QVariantMap transition;
-    transition["duration"] = 400;  // ms
-    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
-    m_map->setPaintProperty("navLayer", "line-color-transition", transition);
-    m_map->setPaintProperty("navLayer", "line-width", 7.5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("pinLayer")) {
-    qDebug() << "Initializing pinLayer";
-    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
-    QVariantMap pin;
-    pin["type"] = "symbol";
-    pin["source"] = "pinSource";
-    m_map->addLayer("pinLayer", pin);
-    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
-    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
-    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
-    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
-    m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom");
-  }
-  if (!m_map->layerExists("carPosLayer")) {
-    qDebug() << "Initializing carPosLayer";
-    m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
-
-    QVariantMap carPos;
-    carPos["type"] = "symbol";
-    carPos["source"] = "carPosSource";
-    m_map->addLayer("carPosLayer", carPos);
-    m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
-    m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
-    m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
-    m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
-    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
-    m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
-  }
-}
-
-void MapWindow::updateState(const UIState &s) {
-  if (!uiState()->scene.started) {
-    return;
-  }
-  const SubMaster &sm = *(s.sm);
-  update();
-
-  // on rising edge of a valid system time, reinitialize the map to set a new token
-  if (sm.valid("clocks") && !prev_time_valid) {
-    LOGW("Time is now valid, reinitializing map");
-    m_settings.setApiKey(get_mapbox_token());
-    initializeGL();
-  }
-  prev_time_valid = sm.valid("clocks");
-
-  if (sm.updated("liveLocationKalman")) {
-    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto locationd_pos = locationd_location.getPositionGeodetic();
-    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
-    auto locationd_velocity = locationd_location.getVelocityCalibrated();
-    auto locationd_ecef = locationd_location.getPositionECEF();
-
-    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
-    if (locationd_valid) {
-      // Check std norm
-      auto pos_ecef_std = locationd_ecef.getStd();
-      bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
-      locationd_valid = pos_accurate_enough;
-    }
-
-    if (locationd_valid) {
-      last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
-      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
-      velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
-    }
-  }
-
-  if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
-    auto nav_dest = coordinate_from_param("NavDestination");
-    bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
-                      nav_dest && !isVisible();
-    qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
-
-    // Show map on destination set/change
-    if (allow_open) {
-      emit requestSettings(false);
-      emit requestVisible(true);
-    }
-  }
-
-  loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());
-  if (!loaded_once) {
-    setError(tr("Map Loading"));
-    return;
-  }
-  initLayers();
-
-  if (!locationd_valid) {
-    setError(tr("Waiting for GPS"));
-  } else if (routing_problem) {
-    setError(tr("Waiting for route"));
-  } else {
-    setError("");
-  }
-
-  if (locationd_valid) {
-    // Update current location marker
-    auto point = coordinate_to_collection(*last_position);
-    QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap carPosSource;
-    carPosSource["type"] = "geojson";
-    carPosSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature1);
-    m_map->updateSource("carPosSource", carPosSource);
-
-    // Map bearing isn't updated when interacting, keep location marker up to date
-    if (last_bearing) {
-      m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing());
-    }
-  }
-
-  if (interaction_counter == 0) {
-    if (last_position) m_map->setCoordinate(*last_position);
-    if (last_bearing) m_map->setBearing(*last_bearing);
-    m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  } else {
-    interaction_counter--;
-  }
-
-  if (sm.updated("navInstruction")) {
-    // an invalid navInstruction packet with a nav destination is only possible if:
-    // - API exception/no internet
-    // - route response is empty
-    // - any time navd is waiting for recompute_countdown
-    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
-
-    if (sm.valid("navInstruction")) {
-      auto i = sm["navInstruction"].getNavInstruction();
-      map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
-
-      if (locationd_valid) {
-        m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-        map_instructions->updateInstructions(i);
-      }
-    } else {
-      clearRoute();
-    }
-  }
-
-  if (sm.rcv_frame("navRoute") != route_rcv_frame) {
-    qWarning() << "Updating navLayer with new route";
-    auto route = sm["navRoute"].getNavRoute();
-    auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
-    QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-    QVariantMap navSource;
-    navSource["type"] = "geojson";
-    navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("navSource", navSource);
-    m_map->setLayoutProperty("navLayer", "visibility", "visible");
-
-    route_rcv_frame = sm.rcv_frame("navRoute");
-    updateDestinationMarker();
-  }
-}
-
-void MapWindow::setError(const QString &err_str) {
-  if (err_str != error->text()) {
-    error->setText(err_str);
-    error->setVisible(!err_str.isEmpty());
-    if (!err_str.isEmpty()) map_instructions->setVisible(false);
-  }
-}
-
-void MapWindow::resizeGL(int w, int h) {
-  m_map->resize(size() / MAP_SCALE);
-  map_overlay->setFixedSize(width(), height());
-}
-
-void MapWindow::initializeGL() {
-  m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1));
-
-  if (last_position) {
-    m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
-  } else {
-    m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
-  }
-
-  m_map->setMargins({0, 350, 0, 50});
-  m_map->setPitch(MIN_PITCH);
-  m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // set global animation duration to 0 ms so visibility changes are instant
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) {
-      m_map->setTransitionOptions(0, 0);
-    }
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) {
-      loaded_once = true;
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-}
-
-void MapWindow::paintGL() {
-  if (!isVisible() || m_map.isNull()) return;
-  m_map->render();
-}
-
-void MapWindow::clearRoute() {
-  if (!m_map.isNull()) {
-    m_map->setLayoutProperty("navLayer", "visibility", "none");
-    m_map->setPitch(MIN_PITCH);
-    updateDestinationMarker();
-  }
-
-  map_instructions->setVisible(false);
-  map_eta->setVisible(false);
-  last_valid_nav_dest = std::nullopt;
-}
-
-void MapWindow::mousePressEvent(QMouseEvent *ev) {
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
-  if (last_position) m_map->setCoordinate(*last_position);
-  if (last_bearing) m_map->setBearing(*last_bearing);
-  m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  update();
-
-  interaction_counter = 0;
-}
-
-void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
-  QPointF delta = ev->localPos() - m_lastPos;
-
-  if (!delta.isNull()) {
-    interaction_counter = INTERACTION_TIMEOUT;
-    m_map->moveBy(delta / MAP_SCALE);
-    update();
-  }
-
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::wheelEvent(QWheelEvent *ev) {
-  if (ev->orientation() == Qt::Horizontal) {
-      return;
-  }
-
-  float factor = ev->delta() / 1200.;
-  if (ev->delta() < 0) {
-      factor = factor > -1 ? factor : 1 / factor;
-  }
-
-  m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
-  update();
-
-  interaction_counter = INTERACTION_TIMEOUT;
-  ev->accept();
-}
-
-bool MapWindow::event(QEvent *event) {
-  if (event->type() == QEvent::Gesture) {
-    return gestureEvent(static_cast<QGestureEvent*>(event));
-  }
-
-  return QWidget::event(event);
-}
-
-bool MapWindow::gestureEvent(QGestureEvent *event) {
-  if (QGesture *pinch = event->gesture(Qt::PinchGesture)) {
-    pinchTriggered(static_cast<QPinchGesture *>(pinch));
-  }
-  return true;
-}
-
-void MapWindow::pinchTriggered(QPinchGesture *gesture) {
-  QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags();
-  if (changeFlags & QPinchGesture::ScaleFactorChanged) {
-    // TODO: figure out why gesture centerPoint doesn't work
-    m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
-    update();
-    interaction_counter = INTERACTION_TIMEOUT;
-  }
-}
-
-void MapWindow::offroadTransition(bool offroad) {
-  if (offroad) {
-    clearRoute();
-    routing_problem = false;
-  } else {
-    auto dest = coordinate_from_param("NavDestination");
-    emit requestVisible(dest.has_value());
-  }
-  last_bearing = {};
-}
-
-void MapWindow::updateDestinationMarker() {
-  auto nav_dest = coordinate_from_param("NavDestination");
-  if (nav_dest.has_value()) {
-    auto point = coordinate_to_collection(*nav_dest);
-    QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap pinSource;
-    pinSource["type"] = "geojson";
-    pinSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("pinSource", pinSource);
-    m_map->setPaintProperty("pinLayer", "visibility", "visible");
-  } else {
-    m_map->setPaintProperty("pinLayer", "visibility", "none");
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
deleted file mode 100644
index 31a44f27b1ecec..00000000000000
--- a/selfdrive/ui/qt/maps/map.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include <optional>
-
-#include <QGeoCoordinate>
-#include <QGestureEvent>
-#include <QLabel>
-#include <QMap>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QMouseEvent>
-#include <QOpenGLWidget>
-#include <QPixmap>
-#include <QPushButton>
-#include <QScopedPointer>
-#include <QString>
-#include <QVBoxLayout>
-#include <QWheelEvent>
-
-#include "cereal/messaging/messaging.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/maps/map_eta.h"
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-class MapWindow : public QOpenGLWidget {
-  Q_OBJECT
-
-public:
-  MapWindow(const QMapLibre::Settings &);
-  ~MapWindow();
-
-private:
-  void initializeGL() final;
-  void paintGL() final;
-  void resizeGL(int w, int h) override;
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  void mousePressEvent(QMouseEvent *ev) final;
-  void mouseDoubleClickEvent(QMouseEvent *ev) final;
-  void mouseMoveEvent(QMouseEvent *ev) final;
-  void wheelEvent(QWheelEvent *ev) final;
-  bool event(QEvent *event) final;
-  bool gestureEvent(QGestureEvent *event);
-  void pinchTriggered(QPinchGesture *gesture);
-  void setError(const QString &err_str);
-
-  bool loaded_once = false;
-  bool prev_time_valid = true;
-
-  // Panning
-  QPointF m_lastPos;
-  int interaction_counter = 0;
-
-  // Position
-  std::optional<QMapLibre::Coordinate> last_valid_nav_dest;
-  std::optional<QMapLibre::Coordinate> last_position;
-  std::optional<float> last_bearing;
-  FirstOrderFilter velocity_filter;
-  bool locationd_valid = false;
-  bool routing_problem = false;
-
-  QWidget *map_overlay;
-  QLabel *error;
-  MapInstructions* map_instructions;
-  MapETA* map_eta;
-
-  void clearRoute();
-  void updateDestinationMarker();
-  uint64_t route_rcv_frame = 0;
-
-private slots:
-  void updateState(const UIState &s);
-
-public slots:
-  void offroadTransition(bool offroad);
-
-signals:
-  void requestVisible(bool visible);
-  void requestSettings(bool settings);
-};
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
deleted file mode 100644
index 0eb77e36ce6773..00000000000000
--- a/selfdrive/ui/qt/maps/map_eta.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_eta.h"
-
-#include <QDateTime>
-#include <QPainter>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const float MANEUVER_TRANSITION_THRESHOLD = 10;
-
-MapETA::MapETA(QWidget *parent) : QWidget(parent) {
-  setVisible(false);
-  setAttribute(Qt::WA_TranslucentBackground);
-  eta_doc.setUndoRedoEnabled(false);
-  eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}");
-}
-
-void MapETA::paintEvent(QPaintEvent *event) {
-  if (!eta_doc.isEmpty()) {
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-    p.setPen(Qt::NoPen);
-    p.setBrush(QColor(0, 0, 0, 255));
-    QSizeF txt_size = eta_doc.size();
-    p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
-    p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
-    eta_doc.drawContents(&p);
-  }
-}
-
-void MapETA::updateETA(float s, float s_typical, float d) {
-  // ETA
-  auto eta_t = QDateTime::currentDateTime().addSecs(s).time();
-  auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")}
-                        : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")};
-
-  // Remaining time
-  auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")}
-                            : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
-  QString color = "#25DA6E";
-  if (std::abs(s_typical) > 1e-5) {
-    if (s / s_typical > 1.5) {
-      color = "#DA3025";
-    } else if (s / s_typical > 1.2) {
-      color = "#DAA725";
-    }
-  }
-
-  // Distance
-  auto distance = map_format_distance(d, uiState()->scene.is_metric);
-
-  eta_doc.setHtml(QString(R"(<body><table><tr style="vertical-align:bottom;"><td><b>%1</b></td><td>%2</td>
-                             <td style="padding-left:40px;color:%3;"><b>%4</b></td><td style="padding-right:40px;color:%3;">%5</td>
-                             <td><b>%6</b></td><td>%7</td></tr></body>)")
-                      .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second));
-
-  setVisible(d >= MANEUVER_TRANSITION_THRESHOLD);
-  update();
-}
diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h
deleted file mode 100644
index 6e59837de3d746..00000000000000
--- a/selfdrive/ui/qt/maps/map_eta.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <QPaintEvent>
-#include <QTextDocument>
-#include <QWidget>
-
-#include "common/params.h"
-
-class MapETA : public QWidget {
-  Q_OBJECT
-
-public:
-  MapETA(QWidget * parent=nullptr);
-  void updateETA(float seconds, float seconds_typical, float distance);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); }
-
-  bool format_24h = false;
-  QTextDocument eta_doc;
-  Params param;
-};
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
deleted file mode 100644
index 50e14011640b6b..00000000000000
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ /dev/null
@@ -1,153 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-#include <algorithm>
-#include <string>
-#include <utility>
-
-#include <QJsonDocument>
-#include <QJsonObject>
-
-#include "common/params.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-
-QString get_mapbox_token() {
-  // Valid for 4 weeks since we can't swap tokens on the fly
-  return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
-}
-
-QMapLibre::Settings get_mapbox_settings() {
-  QMapLibre::Settings settings;
-  settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-
-  if (!Hardware::PC()) {
-    settings.setCacheDatabasePath(MAPS_CACHE_PATH);
-    settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
-  }
-  settings.setApiBaseUrl(MAPS_HOST);
-  settings.setApiKey(get_mapbox_token());
-
-  return settings;
-}
-
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) {
-  return QGeoCoordinate(in.first, in.second);
-}
-
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line){
-
-  Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
-  Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
-  Eigen::Matrix3d ecef_from_local = euler2rot(orient);
-
-  QMapLibre::Coordinates coordinates;
-  auto x = line.getX();
-  auto y = line.getY();
-  auto z = line.getZ();
-  for (int i = 0; i < x.size(); i++) {
-    Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
-    Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
-    coordinates.push_back({point_geodetic.lat, point_geodetic.lon});
-  }
-
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) {
-  QMapLibre::Coordinates coordinates{c};
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto const &c : coordinate_list) {
-    coordinates.push_back({c.getLatitude(), c.getLongitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto &c : coordinate_list) {
-    coordinates.push_back({c.latitude(), c.longitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
-  QList<QGeoCoordinate> path;
-  if (polylineString.isEmpty())
-      return path;
-
-  QByteArray data = polylineString.toLatin1();
-
-  bool parsingLatitude = true;
-
-  int shift = 0;
-  int value = 0;
-
-  QGeoCoordinate coord(0, 0);
-
-  for (int i = 0; i < data.length(); ++i) {
-      unsigned char c = data.at(i) - 63;
-
-      value |= (c & 0x1f) << shift;
-      shift += 5;
-
-      // another chunk
-      if (c & 0x20)
-          continue;
-
-      int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
-
-      if (parsingLatitude) {
-          coord.setLatitude(coord.latitude() + (double)diff/1e6);
-      } else {
-          coord.setLongitude(coord.longitude() + (double)diff/1e6);
-          path.append(coord);
-      }
-
-      parsingLatitude = !parsingLatitude;
-
-      value = 0;
-      shift = 0;
-  }
-
-  return path;
-}
-
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param) {
-  QString json_str = QString::fromStdString(Params().get(param));
-  if (json_str.isEmpty()) return {};
-
-  QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8());
-  if (doc.isNull()) return {};
-
-  QJsonObject json = doc.object();
-  if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
-    QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
-    return coord;
-  } else {
-    return {};
-  }
-}
-
-// return {distance, unit}
-std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
-  auto round_distance = [](float d) -> QString {
-    return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1);
-  };
-
-  d = std::max(d, 0.0f);
-  if (is_metric) {
-    return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
-                     : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
-  } else {
-    float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
-                        : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
deleted file mode 100644
index 0f4be674f05633..00000000000000
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <string>
-#include <utility>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <eigen3/Eigen/Dense>
-#include <QGeoCoordinate>
-
-#include "common/util.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
-#include "cereal/messaging/messaging.h"
-
-const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
-const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
-const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
-
-QString get_mapbox_token();
-QMapLibre::Settings get_mapbox_settings();
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in);
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line);
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c);
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param);
-std::pair<QString, QString> map_format_distance(float d, bool is_metric);
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
deleted file mode 100644
index ba8cb356bd1651..00000000000000
--- a/selfdrive/ui/qt/maps/map_instructions.cc
+++ /dev/null
@@ -1,144 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-#include <QDir>
-#include <QVBoxLayout>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const QString ICON_SUFFIX = ".png";
-
-MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
-  is_rhd = Params().getBool("IsRhdDetected");
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20);
-
-  QHBoxLayout *top_layout = new QHBoxLayout;
-  top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop);
-
-  QVBoxLayout *right_layout = new QVBoxLayout;
-  right_layout->setContentsMargins(9, 9, 9, 0);
-  right_layout->addWidget(distance = new QLabel);
-  distance->setStyleSheet(R"(font-size: 90px;)");
-
-  right_layout->addWidget(primary = new QLabel);
-  primary->setStyleSheet(R"(font-size: 60px;)");
-  primary->setWordWrap(true);
-
-  right_layout->addWidget(secondary = new QLabel);
-  secondary->setStyleSheet(R"(font-size: 50px;)");
-  secondary->setWordWrap(true);
-
-  top_layout->addLayout(right_layout);
-
-  main_layout->addLayout(top_layout);
-  main_layout->addLayout(lane_layout = new QHBoxLayout);
-  lane_layout->setAlignment(Qt::AlignHCenter);
-  lane_layout->setSpacing(10);
-
-  setStyleSheet("color:white");
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-
-  buildPixmapCache();
-}
-
-void MapInstructions::buildPixmapCache() {
-  QDir dir("../assets/navigation");
-  for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
-    QPixmap pm(dir.filePath(fn));
-    QString key = fn.left(fn.size() - ICON_SUFFIX.length());
-    pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
-
-    // Maneuver icons
-    pixmap_cache[key] = pm;
-    // lane direction icons
-    if (key.contains("turn_")) {
-      pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
-    }
-
-    // for rhd, reflect direction and then flip
-    if (key.contains("_left")) {
-      pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
-    } else if (key.contains("_right")) {
-      pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
-    }
-  }
-}
-
-void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
-  setUpdatesEnabled(false);
-
-  // Show instruction text
-  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
-  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
-
-  primary->setText(primary_str);
-  secondary->setVisible(secondary_str.length() > 0);
-  secondary->setText(secondary_str);
-
-  auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric);
-  distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second));
-
-  // Show arrow with direction
-  QString type = QString::fromStdString(instruction.getManeuverType());
-  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
-  if (!type.isEmpty()) {
-    QString fn = "direction_" + type;
-    if (!modifier.isEmpty()) {
-      fn += "_" + modifier;
-    }
-    fn = fn.replace(' ', '_');
-    bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
-    icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
-    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    icon_01->setVisible(true);
-  } else {
-    icon_01->setVisible(false);
-  }
-
-  // Hide distance after arrival
-  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
-
-  // Show lanes
-  auto lanes = instruction.getLanes();
-  for (int i = 0; i < lanes.size(); ++i) {
-    bool active = lanes[i].getActive();
-    const auto active_direction = lanes[i].getActiveDirection();
-
-    // TODO: Make more images based on active direction and combined directions
-    QString fn = "lane_direction_";
-
-    // active direction has precedence
-    if (active && active_direction != cereal::NavInstruction::Direction::NONE) {
-      fn += "turn_" + DIRECTIONS[active_direction];
-    } else {
-      for (auto const &direction : lanes[i].getDirections()) {
-        if (direction != cereal::NavInstruction::Direction::NONE) {
-          fn += "turn_" + DIRECTIONS[direction];
-          break;
-        }
-      }
-    }
-
-    if (!active) {
-      fn += "_inactive";
-    }
-
-    QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel);
-    if (!label->parentWidget()) {
-      lane_layout->addWidget(label);
-    }
-    label->setPixmap(pixmap_cache[fn]);
-    label->setVisible(true);
-  }
-
-  for (int i = lanes.size(); i < lane_labels.size(); ++i) {
-    lane_labels[i]->setVisible(false);
-  }
-
-  setUpdatesEnabled(true);
-  setVisible(true);
-}
diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h
deleted file mode 100644
index 06a943d27fb0a8..00000000000000
--- a/selfdrive/ui/qt/maps/map_instructions.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <map>
-#include <vector>
-
-#include <QHash>
-#include <QHBoxLayout>
-#include <QLabel>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-static std::map<cereal::NavInstruction::Direction, QString> DIRECTIONS = {
-  {cereal::NavInstruction::Direction::NONE, "none"},
-  {cereal::NavInstruction::Direction::LEFT, "left"},
-  {cereal::NavInstruction::Direction::RIGHT, "right"},
-  {cereal::NavInstruction::Direction::STRAIGHT, "straight"},
-  {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"},
-  {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"},
-};
-
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QHBoxLayout *lane_layout;
-  bool is_rhd = false;
-  std::vector<QLabel *> lane_labels;
-  QHash<QString, QPixmap> pixmap_cache;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-  void buildPixmapCache();
-  void updateInstructions(cereal::NavInstruction::Reader instruction);
-};
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
deleted file mode 100644
index c4cc20e21d3a75..00000000000000
--- a/selfdrive/ui/qt/maps/map_panel.cc
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_panel.h"
-
-#include <QHBoxLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/maps/map.h"
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) {
-  content_stack = new QStackedLayout(this);
-  content_stack->setContentsMargins(0, 0, 0, 0);
-
-  auto map = new MapWindow(mapboxSettings);
-  QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) {
-    // when we show the map for a new route, signal HomeWindow to hide the sidebar
-    if (visible) { emit mapPanelRequested(); }
-    setVisible(visible);
-  });
-  QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) {
-    content_stack->setCurrentIndex(settings ? 1 : 0);
-  });
-  content_stack->addWidget(map);
-
-  auto settings = new MapSettings(true, parent);
-  QObject::connect(settings, &MapSettings::closeSettings, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  content_stack->addWidget(settings);
-}
-
-void MapPanel::toggleMapSettings() {
-  // show settings if not visible, then toggle between map and settings
-  int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1;
-  content_stack->setCurrentIndex(new_index);
-  emit mapPanelRequested();
-  show();
-}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
deleted file mode 100644
index 190bb634464db5..00000000000000
--- a/selfdrive/ui/qt/maps/map_panel.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#pragma once
-
-#include <QFrame>
-#include <QMapLibre/Settings>
-#include <QStackedLayout>
-
-class MapPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr);
-
-signals:
-  void mapPanelRequested();
-
-public slots:
-  void toggleMapSettings();
-
-private:
-  QStackedLayout *content_stack;
-};
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
deleted file mode 100644
index 4d655be36cd81f..00000000000000
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ /dev/null
@@ -1,385 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_settings.h"
-
-#include <utility>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
-
-static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) {
-  return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"];
-}
-
-static qint64 convertTimestampToEpoch(const QString &timestamp) {
-  QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate);
-  return dt.isValid() ? dt.toSecsSinceEpoch() : 0;
-}
-
-MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
-  setContentsMargins(0, 0, 0, 0);
-  setAttribute(Qt::WA_NoMousePropagation);
-
-  auto *frame = new QVBoxLayout(this);
-  frame->setContentsMargins(40, 40, 40, 0);
-  frame->setSpacing(0);
-
-  auto *heading_frame = new QHBoxLayout;
-  heading_frame->setContentsMargins(0, 0, 0, 0);
-  heading_frame->setSpacing(32);
-  {
-    if (closeable) {
-      auto *close_btn = new QPushButton("←");
-      close_btn->setStyleSheet(R"(
-        QPushButton {
-          color: #FFFFFF;
-          font-size: 100px;
-          padding-bottom: 8px;
-          border 1px grey solid;
-          border-radius: 70px;
-          background-color: #292929;
-          font-weight: 500;
-        }
-        QPushButton:pressed {
-          background-color: #3B3B3B;
-        }
-      )");
-      close_btn->setFixedSize(140, 140);
-      QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
-      // TODO: read map_on_left from ui state
-      heading_frame->addWidget(close_btn);
-    }
-
-    auto *heading = new QVBoxLayout;
-    heading->setContentsMargins(0, 0, 0, 0);
-    heading->setSpacing(16);
-    {
-      auto *title = new QLabel(tr("NAVIGATION"), this);
-      title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
-      heading->addWidget(title);
-
-      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
-      subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
-      heading->addWidget(subtitle);
-    }
-    heading_frame->addLayout(heading, 1);
-  }
-  frame->addLayout(heading_frame);
-  frame->addSpacing(32);
-
-  current_widget = new DestinationWidget(this);
-  QObject::connect(current_widget, &DestinationWidget::actionClicked,
-                   []() { NavManager::instance()->setCurrentDestination({}); });
-  frame->addWidget(current_widget);
-  frame->addSpacing(32);
-
-  QWidget *destinations_container = new QWidget(this);
-  destinations_layout = new QVBoxLayout(destinations_container);
-  destinations_layout->setContentsMargins(0, 32, 0, 32);
-  destinations_layout->setSpacing(20);
-  destinations_layout->addWidget(home_widget = new DestinationWidget(this));
-  destinations_layout->addWidget(work_widget = new DestinationWidget(this));
-  QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  destinations_layout->addStretch();
-
-  ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
-  destinations_scroller->setFrameShape(QFrame::NoFrame);
-  frame->addWidget(destinations_scroller);
-
-  setStyleSheet("MapSettings { background-color: #333333; }");
-  QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
-}
-
-void MapSettings::showEvent(QShowEvent *event) {
-  refresh();
-}
-
-void MapSettings::refresh() {
-  if (!isVisible()) return;
-
-  setUpdatesEnabled(false);
-
-  auto get_w = [this](int i) {
-    auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
-    if (!w->parentWidget()) {
-      destinations_layout->insertWidget(destinations_layout->count() - 1, w);
-      QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-    }
-    return w;
-  };
-
-  const auto current_dest = NavManager::instance()->currentDestination();
-  if (!current_dest.isEmpty()) {
-    current_widget->set(current_dest, true);
-  } else {
-    current_widget->unset("", true);
-  }
-  home_widget->unset(NAV_FAVORITE_LABEL_HOME);
-  work_widget->unset(NAV_FAVORITE_LABEL_WORK);
-
-  int n = 0;
-  for (auto location : NavManager::instance()->currentLocations()) {
-    DestinationWidget *w = nullptr;
-    auto dest = location.toObject();
-    if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
-      auto label = dest["label"].toString();
-      if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget;
-      if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget;
-    }
-    w = w ? w : get_w(n++);
-    w->set(dest, false);
-    w->setVisible(!locationEqual(dest, current_dest));
-  }
-  for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
-
-  setUpdatesEnabled(true);
-}
-
-void MapSettings::navigateTo(const QJsonObject &place) {
-  NavManager::instance()->setCurrentDestination(place);
-  emit closeSettings();
-}
-
-DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
-  setContentsMargins(0, 0, 0, 0);
-
-  auto *frame = new QHBoxLayout(this);
-  frame->setContentsMargins(32, 24, 32, 24);
-  frame->setSpacing(32);
-
-  icon = new QLabel(this);
-  icon->setAlignment(Qt::AlignCenter);
-  icon->setFixedSize(96, 96);
-  icon->setObjectName("icon");
-  frame->addWidget(icon);
-
-  auto *inner_frame = new QVBoxLayout;
-  inner_frame->setContentsMargins(0, 0, 0, 0);
-  inner_frame->setSpacing(0);
-  {
-    title = new ElidedLabel(this);
-    title->setAttribute(Qt::WA_TransparentForMouseEvents);
-    inner_frame->addWidget(title);
-
-    subtitle = new ElidedLabel(this);
-    subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
-    subtitle->setObjectName("subtitle");
-    inner_frame->addWidget(subtitle);
-  }
-  frame->addLayout(inner_frame, 1);
-
-  action = new QPushButton(this);
-  action->setFixedSize(96, 96);
-  action->setObjectName("action");
-  action->setStyleSheet("font-size: 65px; font-weight: 600;");
-  QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
-  QObject::connect(action, &QPushButton::clicked, this,  &DestinationWidget::actionClicked);
-  frame->addWidget(action);
-
-  setFixedHeight(164);
-  setStyleSheet(R"(
-    DestinationWidget { background-color: #202123; border-radius: 10px; }
-    QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
-    #icon { background-color: #3B4356; border-radius: 48px; }
-    #subtitle { color: #9BA0A5; }
-    #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
-
-    /* current destination */
-    [current="true"] { background-color: #E8E8E8; }
-    [current="true"] QLabel { color: #000000; }
-    [current="true"] #icon { background-color: #42906B; }
-    [current="true"] #subtitle { color: #333333; }
-    [current="true"] #action { color: #202123; }
-
-    /* no saved destination */
-    [set="false"] QLabel { color: #9BA0A5; }
-    [current="true"][set="false"] QLabel { color: #A0000000; }
-
-    /* pressed */
-    [current="false"]:pressed { background-color: #18191B; }
-    [current="true"] #action:pressed { background-color: #D6D6D6; }
-  )");
-  QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
-}
-
-void DestinationWidget::set(const QJsonObject &destination, bool current) {
-  if (dest == destination) return;
-
-  dest = destination;
-  setProperty("current", current);
-  setProperty("set", true);
-
-  auto icon_pixmap = current ? icons().directions : icons().recent;
-  auto title_text = destination["place_name"].toString();
-  auto subtitle_text = destination["place_details"].toString();
-
-  if (destination["save_type"] == NAV_TYPE_FAVORITE) {
-    if (destination["label"] == NAV_FAVORITE_LABEL_HOME) {
-      icon_pixmap = icons().home;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Home");
-    } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) {
-      icon_pixmap = icons().work;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Work");
-    } else {
-      icon_pixmap = icons().favorite;
-    }
-  }
-
-  icon->setPixmap(icon_pixmap);
-
-  title->setText(title_text);
-  subtitle->setText(subtitle_text);
-  subtitle->setVisible(true);
-
-  // TODO: use pixmap
-  action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
-  action->setText(current ? "×" : "→");
-  action->setVisible(true);
-
-  setStyleSheet(styleSheet());
-}
-
-void DestinationWidget::unset(const QString &label, bool current) {
-  dest = {};
-  setProperty("current", current);
-  setProperty("set", false);
-
-  if (label.isEmpty()) {
-    icon->setPixmap(icons().directions);
-    title->setText(tr("No destination set"));
-  } else {
-    QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
-    icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
-    title->setText(tr("No %1 location set").arg(title_text));
-  }
-
-  subtitle->setVisible(false);
-  action->setVisible(false);
-
-  setStyleSheet(styleSheet());
-  setVisible(true);
-}
-
-// singleton NavManager
-
-NavManager *NavManager::instance() {
-  static NavManager *request = new NavManager(qApp);
-  return request;
-}
-
-NavManager::NavManager(QObject *parent) : QObject(parent) {
-  locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array();
-  current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-  if (auto dongle_id = getDongleId()) {
-    {
-      // Fetch favorite and recent locations
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
-      RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse);
-    }
-    {
-      auto param_watcher = new ParamWatcher(this);
-      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated);
-
-      // Destination set while offline
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
-      HttpRequest *deleter = new HttpRequest(this);
-      RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
-        if (success && resp != "null") {
-          if (params.get("NavDestination").empty()) {
-            qWarning() << "Setting NavDestination from /next" << resp;
-            params.put("NavDestination", resp.toStdString());
-          } else {
-            qWarning() << "Got location from /next, but NavDestination already set";
-          }
-          // Send DELETE to clear destination server side
-          deleter->sendRequest(url, HttpRequest::Method::DELETE);
-        }
-
-        // athena can set destination at any time
-        param_watcher->addParam("NavDestination");
-        current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-        emit updated();
-      });
-    }
-  }
-}
-
-void NavManager::parseLocationsResponse(const QString &response, bool success) {
-  if (!success || response == prev_response) return;
-
-  prev_response = response;
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qWarning() << "JSON Parse failed on navigation locations" << response;
-    return;
-  }
-
-  // set last activity time.
-  auto remote_locations = doc.array();
-  for (QJsonValueRef loc : remote_locations) {
-    auto obj = loc.toObject();
-    auto serverTime = convertTimestampToEpoch(obj["modified"].toString());
-    obj.insert("time", qMax(serverTime, getLastActivity(obj)));
-    loc = obj;
-  }
-
-  locations = remote_locations;
-  sortLocations();
-  emit updated();
-}
-
-void NavManager::sortLocations() {
-  // Sort: alphabetical FAVORITES, and then most recent.
-  // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
-  std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
-    if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) {
-      return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
-              std::tuple(b["save_type"].toString(), b["place_name"].toString()));
-    } else {
-      return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong();
-    }
-  });
-
-  write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() {
-    Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString());
-  });
-}
-
-qint64 NavManager::getLastActivity(const QJsonObject &loc) const {
-  qint64 last_activity = 0;
-  auto it = std::find_if(locations.begin(), locations.end(),
-                         [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-  if (it != locations.end()) {
-    auto tm = it->toObject().value("time");
-    if (!tm.isUndefined() && !tm.isNull()) {
-      last_activity = tm.toVariant().toLongLong();
-    }
-  }
-  return last_activity;
-}
-
-void NavManager::setCurrentDestination(const QJsonObject &loc) {
-  current_dest = loc;
-  if (!current_dest.isEmpty()) {
-    current_dest["time"] = QDateTime::currentSecsSinceEpoch();
-    auto it = std::find_if(locations.begin(), locations.end(),
-                           [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-    if (it != locations.end()) {
-      *it = current_dest;
-      sortLocations();
-    }
-    params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString());
-  } else {
-    params.remove("NavDestination");
-  }
-  emit updated();
-}
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
deleted file mode 100644
index 0e151df4ad4ccd..00000000000000
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#pragma once
-
-#include <future>
-#include <vector>
-
-#include <QFrame>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLabel>
-#include <QPushButton>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-
-const QString NAV_TYPE_FAVORITE = "favorite";
-const QString NAV_TYPE_RECENT = "recent";
-
-const QString NAV_FAVORITE_LABEL_HOME = "home";
-const QString NAV_FAVORITE_LABEL_WORK = "work";
-
-class DestinationWidget;
-
-class NavManager : public QObject {
-  Q_OBJECT
-
-public:
-  static NavManager *instance();
-  QJsonArray currentLocations() const { return locations; }
-  QJsonObject currentDestination() const { return current_dest; }
-  void setCurrentDestination(const QJsonObject &loc);
-  qint64 getLastActivity(const QJsonObject &loc) const;
-
-signals:
-  void updated();
-
-private:
-  NavManager(QObject *parent);
-  void parseLocationsResponse(const QString &response, bool success);
-  void sortLocations();
-
-  Params params;
-  QString prev_response;
-  QJsonArray locations;
-  QJsonObject current_dest;
-  std::future<void> write_param_future;
-};
-
-class MapSettings : public QFrame {
-  Q_OBJECT
-public:
-  explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
-  void navigateTo(const QJsonObject &place);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-  QVBoxLayout *destinations_layout;
-  DestinationWidget *current_widget;
-  DestinationWidget *home_widget;
-  DestinationWidget *work_widget;
-  std::vector<DestinationWidget *> widgets;
-
-signals:
-  void closeSettings();
-};
-
-class DestinationWidget : public QPushButton {
-  Q_OBJECT
-public:
-  explicit DestinationWidget(QWidget *parent = nullptr);
-  void set(const QJsonObject &location, bool current = false);
-  void unset(const QString &label, bool current = false);
-
-signals:
-  void actionClicked();
-  void navigateTo(const QJsonObject &destination);
-
-private:
-  struct NavIcons {
-    QPixmap home, work, favorite, recent, directions;
-  };
-
-  static NavIcons icons() {
-    static NavIcons nav_icons {
-      loadPixmap("../assets/navigation/icon_home.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_work.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}),
-    };
-    return nav_icons;
-  }
-
-private:
-  QLabel *icon, *title, *subtitle;
-  QPushButton *action;
-  QJsonObject dest;
-};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 96fe6585cc81e9..dc60d40e4825a9 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -69,20 +69,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
-#ifdef ENABLE_MAPS
-    {
-      "NavSettingTime24h",
-      tr("Show ETA in 24h Format"),
-      tr("Use 24h format instead of am/pm"),
-      "../assets/offroad/icon_metric.png",
-    },
-    {
-      "NavSettingLeftSide",
-      tr("Show Map on Left Side of UI"),
-      tr("Show map on left side when in split screen view."),
-      "../assets/offroad/icon_road.png",
-    },
-#endif
   };
 
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 241bb6ed343ded..07016ef94ab138 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -20,9 +20,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
-  map_settings_btn = new MapSettingsButton(this);
-  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
-
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
@@ -70,12 +67,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   rightHandDM = dm_state.getIsRHD();
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
-
-  // hide map settings button for alerts and flip for right hand DM
-  if (map_settings_btn->isEnabled()) {
-    map_settings_btn->setVisible(!hideBottomIcons);
-    main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
-  }
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 0be4adfffa68dd..1470b85f78592d 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -13,8 +13,6 @@ class AnnotatedCameraWidget : public CameraWidget {
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
-  MapSettingsButton *map_settings_btn;
-
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 75ec3161740d7a..92bcea11b5c3f4 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -47,18 +47,3 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
-
-// MapSettingsButton
-MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
-
-  // hidden by default, made visible if map is created (has prime or mapbox token)
-  setVisible(false);
-  setEnabled(false);
-}
-
-void MapSettingsButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
-}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index b0757795fb56d8..9c91bc3c7b649f 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -25,17 +25,4 @@ class ExperimentalButton : public QPushButton {
   bool engageable;
 };
 
-
-class MapSettingsButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit MapSettingsButton(QWidget *parent = 0);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap settings_img;
-};
-
 void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 66eb1812e63a94..f8c7d8035042a6 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -3,11 +3,6 @@
 #include <QPainter>
 #include <QStackedLayout>
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/maps/map_panel.h"
-#endif
-
 #include "selfdrive/ui/qt/util.h"
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
@@ -30,11 +25,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
     split->insertWidget(0, arCam);
   }
 
-  if (getenv("MAP_RENDER_VIEW")) {
-    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
-    split->insertWidget(0, map_render);
-  }
-
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
@@ -47,7 +37,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -73,56 +62,14 @@ void OnroadWindow::updateState(const UIState &s) {
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-#ifdef ENABLE_MAPS
-  if (map != nullptr) {
-    bool sidebarVisible = geometry().x() > 0;
-    bool show_map = !sidebarVisible;
-    map->setVisible(show_map && !map->isVisible());
-  }
-#endif
   // propagation event to parent(HomeWindow)
   QWidget::mousePressEvent(e);
 }
 
-void OnroadWindow::createMapWidget() {
-#ifdef ENABLE_MAPS
-  auto m = new MapPanel(get_mapbox_settings());
-  map = m;
-  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
-  QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
-  nvg->map_settings_btn->setEnabled(true);
-
-  m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
-  split->insertWidget(0, m);
-  // hidden by default, made visible when navRoute is published
-  m->setVisible(false);
-#endif
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
-#ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
-      createMapWidget();
-    }
-  }
-#endif
   alerts->clear();
 }
 
-void OnroadWindow::primeChanged(bool prime) {
-#ifdef ENABLE_MAPS
-  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
-    nvg->map_settings_btn->setEnabled(false);
-    nvg->map_settings_btn->setVisible(false);
-    map->deleteLater();
-    map = nullptr;
-  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
-    createMapWidget();
-  }
-#endif
-}
-
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 4976f56a67cace..e8fa19b04618f3 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -26,6 +26,5 @@ class OnroadWindow : public QWidget {
 
 private slots:
   void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
   void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 2621612f67f432..25712c26c71395 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -155,7 +155,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")};
+  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Remote snapshots")};
   for (auto &b : bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -225,9 +225,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 
-  primeUser = new PrimeUserWidget;
-  content_layout->addWidget(primeUser);
-
   WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
   QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
   content_layout->addWidget(wifi_prompt);
@@ -235,7 +232,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   mainLayout->addWidget(content);
 
-  primeUser->setVisible(uiState()->hasPrime());
   mainLayout->setCurrentIndex(1);
 
   setStyleSheet(R"(
@@ -277,8 +273,6 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
     mainLayout->setCurrentIndex(0);
   } else {
     popup->reject();
-
-    primeUser->setVisible(uiState()->hasPrime());
     mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index 63341c4ceae8d9..eac71bcddb12b7 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -66,7 +66,6 @@ class SetupWidget : public QFrame {
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-  PrimeUserWidget *primeUser;
 
 private slots:
   void replyFinished(const QString &response, bool success);
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index d8146723a4dc5c..9925a2c7a95dde 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -136,33 +136,6 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>لم يتم ضبط الوجهة</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>لم يتم ضبط %1 موقع</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -349,47 +322,6 @@
         <translation>جارٍ التثبيت...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>الوصول</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>د</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>س</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>التنقل</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>الإدارة في connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>تحميل الخريطة</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>بانتظار GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>بانتظار الطريق</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -568,8 +500,8 @@
         <translation>سنة واحدة من تخزين القرص</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>التنقل خطوة بخطوة</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -630,22 +562,6 @@
             <numerusform>منذ %n يوم</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>م</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ميل</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>قدم</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>الآن</translation>
@@ -1090,22 +1006,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>إظهار الوقت المقدر للوصول بصيغة 24 ساعة</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>استخدام صيغة 24 ساعة بدلاً من صباحاً/مساء</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>عرض الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>عرض الخريطة عل الجانب الأيسر عندما تكون وضعية العرض بطريقة الشاشة المنقسمة.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>التحكم الطولي openpilot (ألفا)</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 010aa4d30485cd..a4f9963d6764e2 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -136,33 +136,6 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Installiere...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>Ankunft</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>std</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Karte wird geladen</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Warten auf GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,11 +491,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -613,22 +545,6 @@
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>fuß</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1070,24 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
     </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Benutze das 24Stunden Format anstatt am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Karte auf der linken Seite</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm.</translation>
-    </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Ankunftszeit im 24 Stunden Format</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimenteller Modus</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index dde6adadd3ca5a..7f7c07d1bb27f6 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -136,33 +136,6 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Domicile</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Travail</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Aucune destination définie</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>domicile</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>travail</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Aucun lieu %1 défini</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Installation...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>h</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVIGATION</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gérer sur connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Chargement de la carte</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>En attente du GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>En attente d&apos;un trajet</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -564,8 +496,8 @@
         <translation>1 an de stockage de trajets</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navigation étape par étape</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -614,22 +546,6 @@
             <numerusform>il y a %n jours</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1090,22 +1006,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Display speed in km/h instead of mph.</source>
         <translation>Afficher la vitesse en km/h au lieu de mph.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Afficher l&apos;heure d&apos;arrivée en format 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Utiliser le format 24h plutôt que am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Afficher la carte à gauche de l&apos;interface</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Afficher la carte à gauche en mode écran scindé.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>Aggressif</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index e0fb60620bc64f..39b018cfba2491 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -136,33 +136,6 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>インストールしています...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>到着予定時間</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>時間</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>マップを読み込んでいます</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS信号を探しています</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,11 +490,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +541,6 @@
             <numerusform>%n 日前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>ｷﾛﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ﾏｲﾙ</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ﾌｨｰﾄ</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1068,22 +984,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>この機能を有効化すると、openpilotを利用中にアクセルを踏むとopenpilotによる運転サポートを中断します。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24時間表示</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>AM/PM の代わりに24時間形式を使用します</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>実験モード</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 56fc5014eed4b2..36247a6197f90f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -136,33 +136,6 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>회사</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>목적지가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>%1 위치가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>회사</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>설치 중...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>도착</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>분</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>시간</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>내비게이션</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 관리하세요</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>지도 로딩 중</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS 수신 중</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>경로를 기다리는 중</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>항상 LTE 연결</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>내비게이션 경로안내</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1년간 드라이브 로그 저장</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 일 전</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>now</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24시간 형식으로 도착 예정 시간 표시</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>오전/오후 대신 24시간 형식 사용</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>UI 왼쪽에 지도 표시</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>실험 모드</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index feaa6e86a14abb..8a71612e3af988 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -136,33 +136,6 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Casa</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Trabalho</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Nenhum destino definido</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Endereço de %1 não definido</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>casa</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>trabalho</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Instalando...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>hr</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVEGAÇÃO</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gerencie em connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Carregando Mapa</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Aguardando GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>Aguardando rota</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,14 +491,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>Conectividade LTE (só nos EUA)</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navegação passo a passo</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1 ano de dados em nuvem</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -614,22 +546,6 @@
             <numerusform>há %n dias</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>milha</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>pés</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>agora</translation>
@@ -1074,22 +990,6 @@ Isso pode levar até um minuto.</translation>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Mostrar ETA em Formato 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Use o formato 24h em vez de am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Exibir Mapa no Lado Esquerdo</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index e594a6975f4c1a..d4a33398bed4b0 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -136,33 +136,6 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>ยังไม่ได้เลือกจุดหมาย</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>ยังไม่ได้เลือกตำแหน่ง%1</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>กำลังติดตั้ง...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>นาที</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>ชม.</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>การนำทาง</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>จัดการได้ที่ connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>กำลังโหลดแผนที่</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>กำลังรอสัญญาณ GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>กำลังรอเส้นทาง</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -563,8 +495,8 @@
         <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>การนำทางแบบเลี้ยวต่อเลี้ยว</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -610,22 +542,6 @@
             <numerusform>%n วันที่แล้ว</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>กม.</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ม.</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ไมล์</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ฟุต</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>ตอนนี้</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>แสดงแผนที่ที่ด้านซ้ายของหน้าจอ</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 48615f169933b3..36d11dbe61ebd6 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -136,33 +136,6 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>Yükleniyor...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>tahmini varış süresi</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>dk</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>saat</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Harita yükleniyor</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS verisi bekleniyor...</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -562,7 +494,7 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +541,6 @@
             <numerusform>%n gün önce</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mil</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1064,22 +980,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Tahmini varış süresini 24 saat formatı şeklinde göster</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>24 saat formatını kullan</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Haritayı arayüzün sol tarafında göster</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Bölünmüş ekran görünümündeyken haritayı sol tarafta göster.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 32119ee10f4d78..79a6e95501b791 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -136,33 +136,6 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未设置目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未设置 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>正在安装……</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵达</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分钟</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小时</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>导航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>请在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地图加载中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路线</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>全天候 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>领航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行驶记录储存空间</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>现在</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>以24小时格式显示预计到达时间</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用24小时制代替am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>在介面左侧显示地图</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>测试模式</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9d1c16db9f08ad..ec6131892eef58 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -136,33 +136,6 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未設定目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未設定 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>安裝中…</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵達</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分鐘</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小時</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>導航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>請在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地圖載入中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路線</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>24/7 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>導航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行駛記錄儲存空間</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>現在</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>預計到達時間單位改用 24 小時制</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>將地圖顯示在畫面的左側</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>實驗模式</translation>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 06b8b13bc18871..2b415b119789e8 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -265,6 +265,10 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
+  if (std::getenv("PRIME_TYPE")) {
+      setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE")));
+  }
+
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index ec35c29b6b4c55..c14e03aa6ea70f 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,7 +19,6 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
     hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9eec7a931b72c9..9769f065f6b468 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -328,19 +328,6 @@ def getVersion() -> dict[str, str]:
   }
 
 
-@dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
-  destination = {
-    "latitude": latitude,
-    "longitude": longitude,
-    "place_name": place_name,
-    "place_details": place_details,
-  }
-  Params().put("NavDestination", json.dumps(destination))
-
-  return {"success": 1}
-
-
 def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index ced31077c9e14c..791d26a8f4a4fb 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -69,7 +69,6 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
diff --git a/third_party/maplibre-native-qt/.gitignore b/third_party/maplibre-native-qt/.gitignore
deleted file mode 100644
index 9adc6681c02299..00000000000000
--- a/third_party/maplibre-native-qt/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/maplibre/
diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64
deleted file mode 120000
index 062c65e8d99c64..00000000000000
--- a/third_party/maplibre-native-qt/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh
deleted file mode 100755
index a368026f0fe00e..00000000000000
--- a/third_party/maplibre-native-qt/build.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a"
-fi
-
-cd $DIR
-if [ ! -d maplibre ]; then
-  git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre
-fi
-
-cd maplibre
-git checkout 3726266e127c1f94ad64837c9dbe03d238255816
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $MAPLIBRE_FLAGS $DIR/maplibre
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include
-cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib
-cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include
-cp -r $DIR/maplibre/src/**/*.hpp $DIR/include
diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp
deleted file mode 100644
index 38b03d498e8939..00000000000000
--- a/third_party/maplibre-native-qt/include/conversion_p.hpp
+++ /dev/null
@@ -1,241 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2018 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "geojson_p.hpp"
-#include "types.hpp"
-
-#include <mbgl/style/conversion/geojson.hpp>
-#include <mbgl/style/conversion_impl.hpp>
-
-#include <QtCore/QVariant>
-#include <QtGui/QColor>
-
-#include <optional>
-
-namespace mbgl::style::conversion {
-
-std::string convertColor(const QColor &color);
-
-template <>
-class ConversionTraits<QVariant> {
-public:
-    static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); }
-
-    static bool isArray(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList));
-#else
-        return value.canConvert(QVariant::List);
-#endif
-    }
-
-    static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); }
-
-    static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast<int>(i)]; }
-
-    static bool isObject(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) ||
-               value.typeId() == QMetaType::QByteArray
-#else
-        return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray
-#endif
-               || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") ||
-               value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>();
-    }
-
-    static std::optional<QVariant> objectMember(const QVariant &value, const char *key) {
-        auto map = value.toMap();
-        auto iter = map.constFind(key);
-
-        if (iter != map.constEnd()) {
-            return iter.value();
-        }
-
-        return {};
-    }
-
-    template <class Fn>
-    static std::optional<Error> eachMember(const QVariant &value, Fn &&fn) {
-        auto map = value.toMap();
-        auto iter = map.constBegin();
-
-        while (iter != map.constEnd()) {
-            std::optional<Error> result = fn(iter.key().toStdString(), QVariant(iter.value()));
-            if (result) {
-                return result;
-            }
-
-            ++iter;
-        }
-
-        return {};
-    }
-
-    static std::optional<bool> toBool(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-#else
-        if (value.type() == QVariant::Bool) {
-#endif
-            return value.toBool();
-        }
-
-        return {};
-    }
-
-    static std::optional<float> toNumber(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toFloat();
-        }
-
-        return {};
-    }
-
-    static std::optional<double> toDouble(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toDouble();
-        }
-
-        return {};
-    }
-
-    static std::optional<std::string> toString(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::QString) {
-            return value.toString().toStdString();
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return convertColor(value.value<QColor>());
-        }
-#else
-        if (value.type() == QVariant::String) {
-            return value.toString().toStdString();
-        }
-
-        if (value.type() == QVariant::Color) {
-            return convertColor(value.value<QColor>());
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<Value> toValue(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.typeId() == QMetaType::QString) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.typeId() == QMetaType::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) {
-            return {value.toDouble()};
-        }
-#else
-        if (value.type() == QVariant::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.type() == QVariant::String) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.type() == QVariant::Color) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.type() == QVariant::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (value.canConvert(QVariant::Double)) {
-            return {value.toDouble()};
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<GeoJSON> toGeoJSON(const QVariant &value, Error &error) {
-        if (value.typeName() == QStringLiteral("QMapLibre::Feature")) {
-            return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value<QMapLibre::Feature>())};
-        }
-
-        if (value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QVector<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QList<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<std::list<QMapLibre::Feature>>());
-        }
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() != QMetaType::QByteArray) {
-#else
-        if (value.type() != QVariant::ByteArray) {
-#endif
-            error = {"JSON data must be in QByteArray"};
-            return {};
-        }
-
-        const QByteArray data = value.toByteArray();
-        return parseGeoJSON(std::string(data.constData(), data.size()), error);
-    }
-
-private:
-    template <typename T>
-    static GeoJSON featureCollectionToGeoJSON(const T &features) {
-        mapbox::feature::feature_collection<double> collection;
-        collection.reserve(static_cast<std::size_t>(features.size()));
-        for (const auto &feature : features) {
-            collection.push_back(QMapLibre::GeoJSON::asFeature(feature));
-        }
-        return GeoJSON{std::move(collection)};
-    }
-};
-
-template <class T, class... Args>
-std::optional<T> convert(const QVariant &value, Error &error, Args &&...args) {
-    return convert<T>(Convertible(value), error, std::forward<Args>(args)...);
-}
-
-inline std::string convertColor(const QColor &color) {
-    return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF())
-        .toStdString();
-}
-
-} // namespace mbgl::style::conversion
diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp
deleted file mode 100644
index bd5ad495db6a85..00000000000000
--- a/third_party/maplibre-native-qt/include/export_core.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_CORE_EXPORT_H
-#define QMAPLIBRE_CORE_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_CORE_LIB)
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_CORE_EXPORT
-#endif
-
-#endif // QMAPLIBRE_CORE_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp
deleted file mode 100644
index a9863468841fa0..00000000000000
--- a/third_party/maplibre-native-qt/include/export_location.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_LOCATION_EXPORT_H
-#define QMAPLIBRE_LOCATION_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB)
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT
-#endif
-
-#endif // QMAPLIBRE_LOCATION_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp
deleted file mode 100644
index 11bc28819033d1..00000000000000
--- a/third_party/maplibre-native-qt/include/export_widgets.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_WIDGETS_EXPORT_H
-#define QMAPLIBRE_WIDGETS_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB)
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT
-#endif
-
-#endif // QMAPLIBRE_WIDGETS_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp
deleted file mode 100644
index 8387f70c4b193b..00000000000000
--- a/third_party/maplibre-native-qt/include/geojson_p.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "types.hpp"
-
-#include <mapbox/geojson.hpp>
-#include <mbgl/util/feature.hpp>
-#include <mbgl/util/geometry.hpp>
-
-#include <QtCore/QVariant>
-
-#include <string>
-
-namespace QMapLibre::GeoJSON {
-
-mbgl::Point<double> asPoint(const Coordinate &coordinate);
-mbgl::MultiPoint<double> asMultiPoint(const Coordinates &multiPoint);
-mbgl::LineString<double> asLineString(const Coordinates &lineString);
-mbgl::MultiLineString<double> asMultiLineString(const CoordinatesCollection &multiLineString);
-mbgl::Polygon<double> asPolygon(const CoordinatesCollection &polygon);
-mbgl::MultiPolygon<double> asMultiPolygon(const CoordinatesCollections &multiPolygon);
-mbgl::Value asPropertyValue(const QVariant &value);
-mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id);
-mbgl::GeoJSONFeature asFeature(const Feature &feature);
-
-} // namespace QMapLibre::GeoJSON
diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp
deleted file mode 100644
index b2630daea75548..00000000000000
--- a/third_party/maplibre-native-qt/include/gl_widget.hpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_GL_WIDGET_H
-#define QMAPLIBRE_GL_WIDGET_H
-
-#include <QMapLibreWidgets/Export>
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <QOpenGLWidget>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate;
-
-class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget {
-    Q_OBJECT
-
-public:
-    explicit GLWidget(const Settings &);
-    ~GLWidget() override;
-
-    Map *map();
-
-protected:
-    // QWidget implementation.
-    void mousePressEvent(QMouseEvent *event) override;
-    void mouseMoveEvent(QMouseEvent *event) override;
-    void wheelEvent(QWheelEvent *event) override;
-
-    // Q{,Open}GLWidget implementation.
-    void initializeGL() override;
-    void paintGL() override;
-
-private:
-    Q_DISABLE_COPY(GLWidget)
-
-    std::unique_ptr<GLWidgetPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_GL_WIDGET_H
diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp
deleted file mode 100644
index c97781fd29d5cb..00000000000000
--- a/third_party/maplibre-native-qt/include/gl_widget_p.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate : public QObject {
-    Q_OBJECT
-
-public:
-    explicit GLWidgetPrivate(QObject *parent, Settings settings);
-    ~GLWidgetPrivate() override;
-
-    void handleMousePressEvent(QMouseEvent *event);
-    void handleMouseMoveEvent(QMouseEvent *event);
-    void handleWheelEvent(QWheelEvent *event) const;
-
-    std::unique_ptr<Map> m_map{};
-    Settings m_settings;
-
-private:
-    Q_DISABLE_COPY(GLWidgetPrivate);
-
-    QPointF m_lastPos;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp
deleted file mode 100644
index cd56996185be72..00000000000000
--- a/third_party/maplibre-native-qt/include/map.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_MAP_H
-#define QMAPLIBRE_MAP_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Settings>
-#include <QMapLibre/Types>
-
-#include <QtCore/QMargins>
-#include <QtCore/QObject>
-#include <QtCore/QPointF>
-#include <QtCore/QSize>
-#include <QtCore/QString>
-#include <QtCore/QStringList>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Map : public QObject {
-    Q_OBJECT
-    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
-    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
-    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
-    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
-    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
-    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
-    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
-    Q_PROPERTY(double scale READ scale WRITE setScale)
-    Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate)
-    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
-
-public:
-    enum MapChange {
-        MapChangeRegionWillChange = 0,
-        MapChangeRegionWillChangeAnimated,
-        MapChangeRegionIsChanging,
-        MapChangeRegionDidChange,
-        MapChangeRegionDidChangeAnimated,
-        MapChangeWillStartLoadingMap,
-        MapChangeDidFinishLoadingMap,
-        MapChangeDidFailLoadingMap,
-        MapChangeWillStartRenderingFrame,
-        MapChangeDidFinishRenderingFrame,
-        MapChangeDidFinishRenderingFrameFullyRendered,
-        MapChangeWillStartRenderingMap,
-        MapChangeDidFinishRenderingMap,
-        MapChangeDidFinishRenderingMapFullyRendered,
-        MapChangeDidFinishLoadingStyle,
-        MapChangeSourceDidChange
-    };
-
-    enum MapLoadingFailure {
-        StyleParseFailure,
-        StyleLoadFailure,
-        NotFoundFailure,
-        UnknownFailure
-    };
-
-    // Determines the orientation of the map.
-    enum NorthOrientation {
-        NorthUpwards, // Default
-        NorthRightwards,
-        NorthDownwards,
-        NorthLeftwards,
-    };
-
-    explicit Map(QObject *parent = nullptr,
-                 const Settings &settings = Settings(),
-                 const QSize &size = QSize(),
-                 qreal pixelRatio = 1);
-    ~Map() override;
-
-    [[nodiscard]] QString styleJson() const;
-    [[nodiscard]] QString styleUrl() const;
-
-    void setStyleJson(const QString &);
-    void setStyleUrl(const QString &);
-
-    [[nodiscard]] double latitude() const;
-    void setLatitude(double latitude);
-
-    [[nodiscard]] double longitude() const;
-    void setLongitude(double longitude);
-
-    [[nodiscard]] double scale() const;
-    void setScale(double scale, const QPointF &center = QPointF());
-
-    [[nodiscard]] double zoom() const;
-    void setZoom(double zoom);
-
-    [[nodiscard]] double minimumZoom() const;
-    [[nodiscard]] double maximumZoom() const;
-
-    [[nodiscard]] double bearing() const;
-    void setBearing(double degrees);
-    void setBearing(double degrees, const QPointF &center);
-
-    [[nodiscard]] double pitch() const;
-    void setPitch(double pitch);
-    void pitchBy(double pitch);
-
-    [[nodiscard]] NorthOrientation northOrientation() const;
-    void setNorthOrientation(NorthOrientation);
-
-    [[nodiscard]] Coordinate coordinate() const;
-    void setCoordinate(const Coordinate &coordinate);
-    void setCoordinateZoom(const Coordinate &coordinate, double zoom);
-
-    void jumpTo(const CameraOptions &);
-
-    void setGestureInProgress(bool inProgress);
-
-    void setTransitionOptions(qint64 duration, qint64 delay = 0);
-
-    void addAnnotationIcon(const QString &name, const QImage &sprite);
-
-    AnnotationID addAnnotation(const Annotation &annotation);
-    void updateAnnotation(AnnotationID id, const Annotation &annotation);
-    void removeAnnotation(AnnotationID id);
-
-    bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-    bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-
-    [[nodiscard]] bool isFullyLoaded() const;
-
-    void moveBy(const QPointF &offset);
-    void scaleBy(double scale, const QPointF &center = QPointF());
-    void rotateBy(const QPointF &first, const QPointF &second);
-
-    void resize(const QSize &size);
-
-    [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const;
-    [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const;
-
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const;
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw,
-                                                         const Coordinate &ne,
-                                                         double bearing,
-                                                         double pitch);
-
-    void setMargins(const QMargins &margins);
-    [[nodiscard]] QMargins margins() const;
-
-    void addSource(const QString &id, const QVariantMap &params);
-    bool sourceExists(const QString &id);
-    void updateSource(const QString &id, const QVariantMap &params);
-    void removeSource(const QString &id);
-
-    void addImage(const QString &id, const QImage &sprite);
-    void removeImage(const QString &id);
-
-    void addCustomLayer(const QString &id,
-                        std::unique_ptr<CustomLayerHostInterface> host,
-                        const QString &before = QString());
-    void addLayer(const QString &id, const QVariantMap &params, const QString &before = QString());
-    bool layerExists(const QString &id);
-    void removeLayer(const QString &id);
-
-    [[nodiscard]] QVector<QString> layerIds() const;
-
-    void setFilter(const QString &layerId, const QVariant &filter);
-    [[nodiscard]] QVariant getFilter(const QString &layerId) const;
-    // When rendering on a different thread,
-    // should be called on the render thread.
-    void createRenderer();
-    void destroyRenderer();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-public slots:
-    void render();
-    void setConnectionEstablished();
-
-    // Commit changes, load all the resources
-    // and renders the map when completed.
-    void startStaticRender();
-
-signals:
-    void needsRendering();
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-    void staticRenderFinished(const QString &error);
-
-private:
-    Q_DISABLE_COPY(Map)
-
-    std::unique_ptr<MapPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Map::MapChange);
-Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure);
-
-#endif // QMAPLIBRE_MAP_H
diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp
deleted file mode 100644
index e68c72b17b0571..00000000000000
--- a/third_party/maplibre-native-qt/include/map_observer_p.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-
-#include <mbgl/map/map_observer.hpp>
-#include <mbgl/style/style.hpp>
-
-#include <QtCore/QObject>
-
-#include <exception>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class MapObserver : public QObject, public mbgl::MapObserver {
-    Q_OBJECT
-
-public:
-    explicit MapObserver(MapPrivate *ptr);
-    ~MapObserver() override;
-
-    // mbgl::MapObserver implementation.
-    void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onCameraIsChanging() final;
-    void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onWillStartLoadingMap() final;
-    void onDidFinishLoadingMap() final;
-    void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final;
-    void onWillStartRenderingFrame() final;
-    void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final;
-    void onWillStartRenderingMap() final;
-    void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final;
-    void onDidFinishLoadingStyle() final;
-    void onSourceChanged(mbgl::style::Source &source) final;
-
-signals:
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-private:
-    Q_DISABLE_COPY(MapObserver)
-
-    MapPrivate *d_ptrRef;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp
deleted file mode 100644
index 9ca0c7e6f5a983..00000000000000
--- a/third_party/maplibre-native-qt/include/map_p.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-#include "map_observer_p.hpp"
-#include "map_renderer_p.hpp"
-
-#include <mbgl/actor/actor.hpp>
-#include <mbgl/map/map.hpp>
-#include <mbgl/renderer/renderer_frontend.hpp>
-#include <mbgl/storage/resource_transform.hpp>
-#include <mbgl/util/geo.hpp>
-
-#include <QtCore/QObject>
-#include <QtCore/QSize>
-
-#include <atomic>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate : public QObject, public mbgl::RendererFrontend {
-    Q_OBJECT
-
-public:
-    explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio);
-    ~MapPrivate() override;
-
-    // mbgl::RendererFrontend implementation.
-    void reset() final {}
-    void setObserver(mbgl::RendererObserver &observer) final;
-    void update(std::shared_ptr<mbgl::UpdateParameters> parameters) final;
-
-    // These need to be called on the same thread.
-    void createRenderer();
-    void destroyRenderer();
-    void render();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-    using PropertySetter = std::optional<mbgl::style::conversion::Error> (mbgl::style::Layer::*)(
-        const std::string &, const mbgl::style::conversion::Convertible &);
-    [[nodiscard]] bool setProperty(const PropertySetter &setter,
-                                   const QString &layerId,
-                                   const QString &name,
-                                   const QVariant &value) const;
-
-    mbgl::EdgeInsets margins;
-    std::unique_ptr<mbgl::Map> mapObj{};
-
-public slots:
-    void requestRendering();
-
-signals:
-    void needsRendering();
-
-private:
-    Q_DISABLE_COPY(MapPrivate)
-
-    std::recursive_mutex m_mapRendererMutex;
-    std::shared_ptr<mbgl::RendererObserver> m_rendererObserver{};
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters{};
-
-    std::unique_ptr<MapObserver> m_mapObserver{};
-    std::unique_ptr<MapRenderer> m_mapRenderer{};
-    std::unique_ptr<mbgl::Actor<mbgl::ResourceTransform::TransformCallback>> m_resourceTransform{};
-
-    Settings::GLContextMode m_mode;
-    qreal m_pixelRatio;
-
-    QString m_localFontFamily;
-
-    std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp
deleted file mode 100644
index b9a087c392ee80..00000000000000
--- a/third_party/maplibre-native-qt/include/map_renderer_p.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-
-#include "utils/renderer_backend.hpp"
-
-#include <mbgl/renderer/renderer.hpp>
-#include <mbgl/renderer/renderer_observer.hpp>
-#include <mbgl/util/util.hpp>
-
-#include <QtCore/QObject>
-
-#include <QtGlobal>
-
-#include <memory>
-#include <mutex>
-
-namespace mbgl {
-class Renderer;
-class UpdateParameters;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class RendererBackend;
-
-class MapRenderer : public QObject {
-    Q_OBJECT
-
-public:
-    MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily);
-    ~MapRenderer() override;
-
-    void render();
-    void updateFramebuffer(quint32 fbo, const mbgl::Size &size);
-    void setObserver(mbgl::RendererObserver *observer);
-
-    // Thread-safe, called by the Frontend
-    void updateParameters(std::shared_ptr<mbgl::UpdateParameters> parameters);
-
-signals:
-    void needsRendering();
-
-private:
-    MBGL_STORE_THREAD(tid)
-
-    Q_DISABLE_COPY(MapRenderer)
-
-    std::mutex m_updateMutex;
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters;
-
-    RendererBackend m_backend;
-    std::unique_ptr<mbgl::Renderer> m_renderer{};
-
-    bool m_forceScheduler{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp
deleted file mode 100644
index 5eb01805034bff..00000000000000
--- a/third_party/maplibre-native-qt/include/qgeomap.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Map>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p.h>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibrePrivate;
-
-class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap {
-    Q_OBJECT
-    Q_DECLARE_PRIVATE(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr);
-    ~QGeoMapMapLibre() override;
-
-    [[nodiscard]] Capabilities capabilities() const override;
-
-    void setSettings(const Settings &settings);
-    void setMapItemsBefore(const QString &mapItemsBefore);
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-private Q_SLOTS:
-    // QMapLibre
-    void onMapChanged(Map::MapChange);
-
-    // QDeclarativeGeoMapItemBase
-    void onMapItemPropertyChanged();
-    void onMapItemSubPropertyChanged();
-    void onMapItemUnsupportedPropertyChanged();
-    void onMapItemGeometryChanged();
-
-    // StyleParameter
-    void onStyleParameterUpdated(StyleParameter *parameter);
-
-private:
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp
deleted file mode 100644
index ce415d9bcf0af7..00000000000000
--- a/third_party/maplibre-native-qt/include/qgeomap_p.hpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "qgeomap.hpp"
-
-#include <QMapLibre/Settings>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p_p.h>
-
-#include <QtCore/QHash>
-#include <QtCore/QList>
-#include <QtCore/QRectF>
-#include <QtCore/QSharedPointer>
-#include <QtCore/QTimer>
-#include <QtCore/QVariant>
-
-namespace QMapLibre {
-
-class Map;
-class StyleChange;
-
-class QGeoMapMapLibrePrivate : public QGeoMapPrivate {
-    Q_DECLARE_PUBLIC(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine);
-    ~QGeoMapMapLibrePrivate() override;
-
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window);
-
-    QGeoMap::ItemTypes supportedMapItemTypes() const override;
-    void addMapItem(QDeclarativeGeoMapItemBase *item) override;
-    void removeMapItem(QDeclarativeGeoMapItemBase *item) override;
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-    /* Data members */
-    enum SyncState : int {
-        NoSync = 0,
-        ViewportSync = 1 << 0,
-        CameraDataSync = 1 << 1,
-        MapTypeSync = 1 << 2,
-        VisibleAreaSync = 1 << 3
-    };
-    Q_DECLARE_FLAGS(SyncStates, SyncState);
-
-    Settings m_settings;
-    QString m_mapItemsBefore;
-
-    QList<StyleParameter *> m_mapParameters;
-
-    QTimer m_refresh;
-    bool m_shouldRefresh = true;
-    bool m_warned = false;
-    bool m_threadedRendering = false;
-    bool m_styleLoaded = false;
-
-    SyncStates m_syncState = NoSync;
-
-    std::vector<std::unique_ptr<StyleChange>> m_styleChanges;
-
-protected:
-    void changeViewportSize(const QSize &size) override;
-    void changeCameraData(const QGeoCameraData &data) override;
-#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0)
-    void changeActiveMapType(const QGeoMapType &mapType) override;
-#else
-    void changeActiveMapType(const QGeoMapType mapType) override;
-#endif
-
-    void setVisibleArea(const QRectF &visibleArea) override;
-    QRectF visibleArea() const override;
-
-private:
-    Q_DISABLE_COPY(QGeoMapMapLibrePrivate);
-
-    void syncStyleChanges(Map *map);
-    void threadedRenderingHack(QQuickWindow *window, Map *map);
-
-    QRectF m_visibleArea;
-};
-
-Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates)
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp
deleted file mode 100644
index a8dc445e2b6c46..00000000000000
--- a/third_party/maplibre-native-qt/include/qmaplibre.hpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_core.hpp"
-#include "map.hpp"
-#include "settings.hpp"
-#include "types.hpp"
-#include "utils.hpp"
diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
deleted file mode 100644
index ebe9a8eea4cd67..00000000000000
--- a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
+++ /dev/null
@@ -1,6 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_widgets.hpp"
-#include "gl_widget.hpp"
diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
deleted file mode 100644
index 67cb4b56ced996..00000000000000
--- a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Settings>
-
-#include <QtLocation/private/qgeomappingmanagerengine_p.h>
-#include <QtLocation/QGeoServiceProvider>
-
-namespace QMapLibre {
-
-class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine {
-    Q_OBJECT
-
-public:
-    QtMappingEngine(const QVariantMap &parameters, QGeoServiceProvider::Error *error, QString *errorString);
-
-    QGeoMap *createMap() override;
-
-private:
-    Settings m_settings;
-    QString m_mapItemsBefore;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp
deleted file mode 100644
index d6f88b871b7a7d..00000000000000
--- a/third_party/maplibre-native-qt/include/settings.hpp
+++ /dev/null
@@ -1,125 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_SETTINGS_H
-#define QMAPLIBRE_SETTINGS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-#include <QtCore/QString>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-// TODO: this will be wrapped at some point
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Settings {
-public:
-    enum GLContextMode : bool {
-        UniqueGLContext,
-        SharedGLContext
-    };
-
-    enum MapMode {
-        Continuous = 0,
-        Static
-    };
-
-    enum ConstrainMode {
-        NoConstrain = 0,
-        ConstrainHeightOnly,
-        ConstrainWidthAndHeight
-    };
-
-    enum ViewportMode {
-        DefaultViewport = 0,
-        FlippedYViewport
-    };
-
-    enum ProviderTemplate {
-        NoProvider = 0,
-        MapLibreProvider,
-        MapTilerProvider,
-        MapboxProvider
-    };
-
-    using ResourceTransformFunction = std::function<std::string(const std::string &)>;
-
-    explicit Settings(ProviderTemplate provider = NoProvider);
-    ~Settings();
-    Settings(const Settings &s);
-    Settings(Settings &&s) noexcept;
-    Settings &operator=(const Settings &s);
-    Settings &operator=(Settings &&s) noexcept;
-
-    [[nodiscard]] GLContextMode contextMode() const;
-    void setContextMode(GLContextMode);
-
-    [[nodiscard]] MapMode mapMode() const;
-    void setMapMode(MapMode);
-
-    [[nodiscard]] ConstrainMode constrainMode() const;
-    void setConstrainMode(ConstrainMode);
-
-    [[nodiscard]] ViewportMode viewportMode() const;
-    void setViewportMode(ViewportMode);
-
-    [[nodiscard]] unsigned cacheDatabaseMaximumSize() const;
-    void setCacheDatabaseMaximumSize(unsigned);
-
-    [[nodiscard]] QString cacheDatabasePath() const;
-    void setCacheDatabasePath(const QString &path);
-
-    [[nodiscard]] QString assetPath() const;
-    void setAssetPath(const QString &path);
-
-    [[nodiscard]] QString apiKey() const;
-    void setApiKey(const QString &key);
-
-    [[nodiscard]] QString apiBaseUrl() const;
-    void setApiBaseUrl(const QString &url);
-
-    [[nodiscard]] QString localFontFamily() const;
-    void setLocalFontFamily(const QString &family);
-
-    [[nodiscard]] QString clientName() const;
-    void setClientName(const QString &name);
-
-    [[nodiscard]] QString clientVersion() const;
-    void setClientVersion(const QString &version);
-
-    [[nodiscard]] ResourceTransformFunction resourceTransform() const;
-    void setResourceTransform(const ResourceTransformFunction &transform);
-
-    void setProviderTemplate(ProviderTemplate providerTemplate);
-    void setStyles(const Styles &styles);
-
-    [[nodiscard]] const Styles &styles() const;
-    [[nodiscard]] Styles providerStyles() const;
-
-    [[nodiscard]] Coordinate defaultCoordinate() const;
-    void setDefaultCoordinate(const Coordinate &coordinate);
-    [[nodiscard]] double defaultZoom() const;
-    void setDefaultZoom(double zoom);
-
-    [[nodiscard]] bool customTileServerOptions() const;
-    [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const;
-
-private:
-    std::unique_ptr<SettingsPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_SETTINGS_H
diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp
deleted file mode 100644
index 257bdfd5a9afdb..00000000000000
--- a/third_party/maplibre-native-qt/include/settings_p.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-#include "types.hpp"
-
-#include <mbgl/util/tile_server_options.hpp>
-
-#include <QtCore/QString>
-#include <QtCore/QVector>
-
-#include <functional>
-#include <memory>
-
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate {
-public:
-    SettingsPrivate();
-
-    void setProviderTemplate(Settings::ProviderTemplate providerTemplate);
-    void setProviderApiBaseUrl(const QString &url);
-
-    Settings::GLContextMode m_contextMode{Settings::SharedGLContext};
-    Settings::MapMode m_mapMode{Settings::Continuous};
-    Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly};
-    Settings::ViewportMode m_viewportMode{Settings::DefaultViewport};
-    Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider};
-
-    unsigned m_cacheMaximumSize;
-    QString m_cacheDatabasePath;
-    QString m_assetPath;
-    QString m_apiKey;
-    QString m_localFontFamily;
-    QString m_clientName;
-    QString m_clientVersion;
-
-    Coordinate m_defaultCoordinate{};
-    double m_defaultZoom{};
-
-    Styles m_styles;
-
-    std::function<std::string(const std::string &)> m_resourceTransform;
-
-    bool m_customTileServerOptions{};
-    mbgl::TileServerOptions m_tileServerOptions{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
deleted file mode 100644
index 991bb4077ea0d1..00000000000000
--- a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QMapLibre/Types>
-
-#include <QtLocation/private/qdeclarativecirclemapitem_p.h>
-#include <QtLocation/private/qdeclarativegeomapitembase_p.h>
-#include <QtLocation/private/qdeclarativepolygonmapitem_p.h>
-#include <QtLocation/private/qdeclarativepolylinemapitem_p.h>
-#include <QtLocation/private/qdeclarativerectanglemapitem_p.h>
-
-namespace QMapLibre::StyleChangeUtils {
-
-Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item);
-Feature featureFromMapCircle(QDeclarativeCircleMapItem *item);
-Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item);
-Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item);
-Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-QString featureId(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item);
-std::vector<FeatureProperty> featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-} // namespace QMapLibre::StyleChangeUtils
diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp
deleted file mode 100644
index 96f63b353492f5..00000000000000
--- a/third_party/maplibre-native-qt/include/texture_node.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QtQuick/QQuickWindow>
-#include <QtQuick/QSGRenderNode>
-#include <QtQuick/QSGSimpleTextureNode>
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-#include <QtOpenGL/QOpenGLFramebufferObject>
-#else
-#include <QtGui/QOpenGLFramebufferObject>
-#endif
-
-#include <QMapLibre/Map>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibre;
-
-class TextureNode : public QSGSimpleTextureNode {
-public:
-    TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap);
-
-    [[nodiscard]] Map *map() const;
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-    void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window);
-#else
-    void resize(const QSize &size, qreal pixelRatio);
-#endif
-    void render(QQuickWindow *);
-
-private:
-    std::unique_ptr<Map> m_map{};
-    std::unique_ptr<QOpenGLFramebufferObject> m_fbo{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp
deleted file mode 100644
index 696fab1a88f229..00000000000000
--- a/third_party/maplibre-native-qt/include/types.hpp
+++ /dev/null
@@ -1,206 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_TYPES_H
-#define QMAPLIBRE_TYPES_H
-
-#include <QMapLibre/Export>
-
-#include <QtCore/QPair>
-#include <QtCore/QString>
-#include <QtCore/QVariant>
-#include <QtCore/QVector>
-#include <QtGui/QColor>
-#include <utility>
-
-namespace QMapLibre {
-
-using Coordinate = QPair<double, double>;
-using CoordinateZoom = QPair<Coordinate, double>;
-using ProjectedMeters = QPair<double, double>;
-
-using Coordinates = QVector<Coordinate>;
-using CoordinatesCollection = QVector<Coordinates>;
-
-using CoordinatesCollections = QVector<CoordinatesCollection>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Style {
-    enum Type { // Taken from Qt to be in sync with QtLocation
-        NoMap = 0,
-        StreetMap,
-        SatelliteMapDay,
-        SatelliteMapNight,
-        TerrainMap,
-        HybridMap,
-        TransitMap,
-        GrayStreetMap,
-        PedestrianMap,
-        CarNavigationMap,
-        CycleMap,
-        CustomMap = 100
-    };
-
-#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
-    explicit Style(QString url_, QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#else
-    explicit Style(QString url_ = QString(), QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#endif
-
-    QString url;
-    QString name;
-    QString description;
-    bool night{};
-    Type type{CustomMap};
-};
-
-using Styles = QVector<Style>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Feature {
-    enum Type {
-        PointType = 1,
-        LineStringType,
-        PolygonType
-    };
-
-    /*! Class constructor. */
-    explicit Feature(Type type_ = PointType,
-                     CoordinatesCollections geometry_ = CoordinatesCollections(),
-                     QVariantMap properties_ = QVariantMap(),
-                     QVariant id_ = QVariant())
-        : type(type_),
-          geometry(std::move(geometry_)),
-          properties(std::move(properties_)),
-          id(std::move(id_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-    QVariantMap properties;
-    QVariant id;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FeatureProperty {
-    enum Type {
-        LayoutProperty = 1,
-        PaintProperty,
-    };
-
-    /*! Class constructor. */
-    explicit FeatureProperty(Type type_, QString name_, QVariant value_)
-        : type(type_),
-          name(std::move(name_)),
-          value(std::move(value_)) {}
-
-    Type type;
-    QString name;
-    QVariant value;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT ShapeAnnotationGeometry {
-    enum Type {
-        LineStringType = 1,
-        PolygonType,
-        MultiLineStringType,
-        MultiPolygonType
-    };
-
-    /*! Class constructor. */
-    explicit ShapeAnnotationGeometry(Type type_ = LineStringType,
-                                     CoordinatesCollections geometry_ = CoordinatesCollections())
-        : type(type_),
-          geometry(std::move(geometry_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT SymbolAnnotation {
-    Coordinate geometry;
-    QString icon;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT LineAnnotation {
-    /*! Class constructor. */
-    explicit LineAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            float width_ = 1.0f,
-                            const QColor &color_ = Qt::black)
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          width(width_),
-          color(color_) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    float width;
-    QColor color;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FillAnnotation {
-    /*! Class constructor. */
-    explicit FillAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            const QColor &color_ = Qt::black,
-                            QVariant outlineColor_ = QVariant())
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          color(color_),
-          outlineColor(std::move(outlineColor_)) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    QColor color;
-    QVariant outlineColor;
-};
-
-using Annotation = QVariant;
-using AnnotationID = quint32;
-using AnnotationIDs = QVector<AnnotationID>;
-
-struct Q_MAPLIBRE_CORE_EXPORT CameraOptions {
-    QVariant center;  // Coordinate
-    QVariant anchor;  // QPointF
-    QVariant zoom;    // double
-    QVariant bearing; // double
-    QVariant pitch;   // double
-};
-
-// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
-struct Q_MAPLIBRE_CORE_EXPORT CustomLayerRenderParameters {
-    double width;
-    double height;
-    double latitude;
-    double longitude;
-    double zoom;
-    double bearing;
-    double pitch;
-    double fieldOfView;
-};
-
-class Q_MAPLIBRE_CORE_EXPORT CustomLayerHostInterface {
-public:
-    virtual ~CustomLayerHostInterface() = default;
-    virtual void initialize() = 0;
-    virtual void render(const CustomLayerRenderParameters &) = 0;
-    virtual void deinitialize() = 0;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Coordinate);
-Q_DECLARE_METATYPE(QMapLibre::Coordinates);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollection);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollections);
-Q_DECLARE_METATYPE(QMapLibre::Feature);
-
-Q_DECLARE_METATYPE(QMapLibre::SymbolAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::ShapeAnnotationGeometry);
-Q_DECLARE_METATYPE(QMapLibre::LineAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::FillAnnotation);
-
-#endif // QMAPLIBRE_TYPES_H
diff --git a/third_party/maplibre-native-qt/include/utils.hpp b/third_party/maplibre-native-qt/include/utils.hpp
deleted file mode 100644
index f70a5de0ba1e07..00000000000000
--- a/third_party/maplibre-native-qt/include/utils.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_UTILS_H
-#define QMAPLIBRE_UTILS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-namespace QMapLibre {
-
-enum NetworkMode {
-    Online, // Default
-    Offline,
-};
-
-Q_MAPLIBRE_CORE_EXPORT NetworkMode networkMode();
-Q_MAPLIBRE_CORE_EXPORT void setNetworkMode(NetworkMode mode);
-
-Q_MAPLIBRE_CORE_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
-Q_MAPLIBRE_CORE_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &coordinate);
-Q_MAPLIBRE_CORE_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &projectedMeters);
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_UTILS_H
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b44be2..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12cec1..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db426b..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985ac690..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba78a75..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911f757..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb14705..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29fa832..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a16a47..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
deleted file mode 100755
index 34d2968907189e..00000000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index 34d2968907189e..00000000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b44be2..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12cec1..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db426b..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985ac690..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba78a75..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911f757..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb14705..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29fa832..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a16a47..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
deleted file mode 120000
index 9d440fa142429c..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
+++ /dev/null
@@ -1 +0,0 @@
-libQMapLibre.so.3.0.0
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index e49d321c7c9376..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d62e192aa7806302ed79866d9e3c51efc4bc315a6fdfe0e58e448dac5b279098
-size 11549728
diff --git a/tools/sim/README.md b/tools/sim/README.md
index ff95d16de6c802..f6ddde2580d2b5 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -4,7 +4,7 @@ openpilot in simulator
 openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
-First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd```
+First, start openpilot.
 ``` bash
 # Run locally
 ./tools/sim/launch_openpilot.sh

From 5341512fce3ed597498f51ee096a610e3fce0b8c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:49:49 -0700
Subject: [PATCH 034/247] macOS: remove pyenv

---
 tools/mac_setup.sh | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index b7f7cb93a284f7..6b2d668524c0e4 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -59,8 +59,6 @@ brew "libusb"
 brew "libtool"
 brew "llvm"
 brew "openssl@3.0"
-brew "pyenv"
-brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"

From 9a084a73c5c3e6386bc5f21c46062d46878f6ca2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:59:48 -0700
Subject: [PATCH 035/247] remove nav apt dependencies (#32792)

---
 tools/install_ubuntu_dependencies.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 5c10bf5438d0d6..2513df86b93081 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -54,8 +54,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-opencl-dev \
     portaudio19-dev \
     qtmultimedia5-dev \
-    qtlocation5-dev \
-    qtpositioning5-dev \
+    qtdeclarative5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \
     libqt5serialbus5-dev  \

From 7013eed50cd350a9b329280b0eccfc9db051a72b Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Wed, 19 Jun 2024 20:34:57 -0700
Subject: [PATCH 036/247] remove `timezone` from `timed.py` (#32665)

* use timezone from tilequery mapbox api

* add timezone into cereal

* better clean

* more

* one line

* poetry lock
---
 common/params.cc |   1 -
 poetry.lock      | 197 +++++++++++++----------------------------------
 pyproject.toml   |   1 -
 system/timed.py  |  48 +-----------
 4 files changed, 55 insertions(+), 192 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 6e6bba8867880e..03a3cc31f12d3a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -186,7 +186,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
-    {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/poetry.lock b/poetry.lock
index d81773b9f286ab..d0465821355d82 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -281,13 +281,13 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.16.1"
+version = "1.17.0"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "azure-identity-1.16.1.tar.gz", hash = "sha256:6d93f04468f240d59246d8afde3091494a5040d4f141cad0f49fc0c399d0d91e"},
-    {file = "azure_identity-1.16.1-py3-none-any.whl", hash = "sha256:8fb07c25642cd4ac422559a8b50d3e77f73dcc2bbfaba419d06d6c9d7cff6726"},
+    {file = "azure-identity-1.17.0.tar.gz", hash = "sha256:a1168f223b2d7fa3968362b78affd157a1f3772f310a8cdce883cc515c6c8998"},
+    {file = "azure_identity-1.17.0-py3-none-any.whl", hash = "sha256:501d6c2cbb07826ff5e7cebc05ef319ba45612f31f0bdadca260005798e4ef16"},
 ]
 
 [package.dependencies]
@@ -295,6 +295,7 @@ azure-core = ">=1.23.0"
 cryptography = ">=2.5"
 msal = ">=1.24.0"
 msal-extensions = ">=0.3.0"
+typing-extensions = ">=4.0.0"
 
 [[package]]
 name = "azure-storage-blob"
@@ -1074,18 +1075,18 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.15.1"
+version = "3.15.3"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.15.1-py3-none-any.whl", hash = "sha256:71b3102950e91dfc1bb4209b64be4dc8854f40e5f534428d8684f953ac847fac"},
-    {file = "filelock-3.15.1.tar.gz", hash = "sha256:58a2549afdf9e02e10720eaa4d4470f56386d7a6f72edd7d0596337af8ed7ad8"},
+    {file = "filelock-3.15.3-py3-none-any.whl", hash = "sha256:0151273e5b5d6cf753a61ec83b3a9b7d8821c39ae9af9d7ecf2f9e2f17404103"},
+    {file = "filelock-3.15.3.tar.gz", hash = "sha256:e1199bf5194a2277273dacd50269f0d87d0682088a3c561c15674ea9005d8635"},
 ]
 
 [package.extras]
 docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
-testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
 typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
@@ -1451,60 +1452,6 @@ other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-pyt
 testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
 toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
 
-[[package]]
-name = "h3"
-version = "3.7.7"
-description = "Hierarchical hexagonal geospatial indexing system"
-optional = false
-python-versions = "*"
-files = [
-    {file = "h3-3.7.7-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:951ecc9da0bcd5091670b13636928747bc98bc76891da0fa725524ec017cd9de"},
-    {file = "h3-3.7.7-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:26b9dd605541223ef927cc913deccb236cee024b16032f4a3e4387e2791479f2"},
-    {file = "h3-3.7.7-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:996ebb32dc26dd607af7493149f94ce316117be6f42971f7b33bbd326ec695d2"},
-    {file = "h3-3.7.7-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fa2a4aa888cd9476788b874b4e11e178293f5b86e8461c36596bf183c242d417"},
-    {file = "h3-3.7.7-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:0256e42687470c6f0044ca78fe375fe32a654be8b5a8313b4a68f52f513389c6"},
-    {file = "h3-3.7.7-cp310-cp310-win_amd64.whl", hash = "sha256:a3e2bc125490f900e0513c30480722f129bab1415f23040b6cd3a3f8d5a39336"},
-    {file = "h3-3.7.7-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:7d59018a50cd3b6d0ff0b18a54fdfcbaf2f79c13c831842f54fd2780c4b561ea"},
-    {file = "h3-3.7.7-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:9e74526d941c1656fe162cc63b459b61aa83a15e257e9477b1570f26c544b51a"},
-    {file = "h3-3.7.7-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7c7398dbab685fcf3fe92f7c4c5901ab258bc66f7fa05fd1da8693375a10a549"},
-    {file = "h3-3.7.7-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6d22ea488ab5fe01c94070e9a6b3222916905a4d3f7a9d33cb2298c93fa0ffd3"},
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-    {file = "h3-3.7.7-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8cb13f0213ed6da80e739355e5b62cfc81b7b1469af997be3384a6cbc3a1a750"},
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-    {file = "h3-3.7.7-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0c1b5a0a652719b645387231bf6d7d4dd85150e4440a4ce72a804a10e86592ae"},
-    {file = "h3-3.7.7-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:64f76dc827fef94e9f43f95a1daea2e11f2ad2e8c55deac072f3d59bd62412d4"},
-    {file = "h3-3.7.7-cp38-cp38-win_amd64.whl", hash = "sha256:c993a36120d7f5607f24ba9e39caf715eaf9cd9d44f5d5660fd85e3f4e0c6bf7"},
-    {file = "h3-3.7.7-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:eb154d2af699870b888e10476e327c895078009d2d2a6ef2d053d7dcf0e2c270"},
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-    {file = "h3-3.7.7-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:52901f14f8b6e2c82075fd52c0e70176b868f621d47b5dc93f468c510e963722"},
-    {file = "h3-3.7.7-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fa9d82a0fcc647e7bab36ab2e7a7392d141edc95d113ccf972e0fb7b0ddf80a0"},
-    {file = "h3-3.7.7-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9f4417d09acb36f0452346052f576923d6e4334bff3459f217d6278d40397424"},
-    {file = "h3-3.7.7-cp39-cp39-win_amd64.whl", hash = "sha256:7ae774cd43b057f68dc10c99e4522fa40ed6b32ab90b2df0025595ffa15e77a0"},
-    {file = "h3-3.7.7.tar.gz", hash = "sha256:33d141c3cef0725a881771fd8cb80c06a0db84a6e4ca5c647ce095ae07c61e94"},
-]
-
-[package.extras]
-all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
-numpy = ["numpy"]
-test = ["flake8", "pylint", "pytest", "pytest-cov"]
-
 [[package]]
 name = "humanfriendly"
 version = "10.0"
@@ -2724,44 +2671,46 @@ sympy = "*"
 
 [[package]]
 name = "opencv-python"
-version = "4.10.0.82"
+version = "4.10.0.84"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:ff54adc9e4daaf438e669664af08bec4a268c7b7356079338b8e4fae03810f2c"},
-    {file = "opencv_python-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:2e3c2557b176f1e528417520a52c0600a92c1bb1c359f3df8e6411ab4293f065"},
+    {file = "opencv-python-4.10.0.84.tar.gz", hash = "sha256:72d234e4582e9658ffea8e9cae5b63d488ad06994ef12d81dc303b17472f3526"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:fc182f8f4cda51b45f01c64e4cbedfc2f00aff799debebc305d8d0210c43f251"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:71e575744f1d23f79741450254660442785f45a0797212852ee5199ef12eed98"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:09a332b50488e2dda866a6c5573ee192fe3583239fb26ff2f7f9ceb0bc119ea6"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ace140fc6d647fbe1c692bcb2abce768973491222c067c131d80957c595b71f"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-win32.whl", hash = "sha256:2db02bb7e50b703f0a2d50c50ced72e95c574e1e5a0bb35a8a86d0b35c98c236"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-win_amd64.whl", hash = "sha256:32dbbd94c26f611dc5cc6979e6b7aa1f55a64d6b463cc1dcd3c95505a63e48fe"},
 ]
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
 name = "opencv-python-headless"
-version = "4.10.0.82"
+version = "4.10.0.84"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:94736e9b322d13db4768fd35588ad5e8995e78e207263076bfbee18aac835ad5"},
-    {file = "opencv_python_headless-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:c1822fa23d1641c0249ed5eb906f4c385f7959ff1bd601a776d56b0c18914af4"},
+    {file = "opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:a4f4bcb07d8f8a7704d9c8564c224c8b064c63f430e95b61ac0bffaa374d330e"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:5ae454ebac0eb0a0b932e3406370aaf4212e6a3fdb5038cc86c7aea15a6851da"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:46071015ff9ab40fccd8a163da0ee14ce9846349f06c6c8c0f2870856ffa45db"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:377d08a7e48a1405b5e84afcbe4798464ce7ee17081c1c23619c8b398ff18295"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-win32.whl", hash = "sha256:9092404b65458ed87ce932f613ffbb1106ed2c843577501e5768912360fc50ec"},
+    {file = "opencv_python_headless-4.10.0.84-cp37-abi3-win_amd64.whl", hash = "sha256:afcf28bd1209dd58810d33defb622b325d3cbe49dcd7a43a902982c33e5fad05"},
 ]
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
@@ -2925,8 +2874,8 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
     {version = ">=1.23.2", markers = "python_version == \"3.11\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
@@ -3157,27 +3106,28 @@ files = [
 
 [[package]]
 name = "psutil"
-version = "5.9.8"
+version = "6.0.0"
 description = "Cross-platform lib for process and system monitoring in Python."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
-files = [
-    {file = "psutil-5.9.8-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:26bd09967ae00920df88e0352a91cff1a78f8d69b3ecabbfe733610c0af486c8"},
-    {file = "psutil-5.9.8-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:05806de88103b25903dff19bb6692bd2e714ccf9e668d050d144012055cbca73"},
-    {file = "psutil-5.9.8-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:611052c4bc70432ec770d5d54f64206aa7203a101ec273a0cd82418c86503bb7"},
-    {file = "psutil-5.9.8-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:50187900d73c1381ba1454cf40308c2bf6f34268518b3f36a9b663ca87e65e36"},
-    {file = "psutil-5.9.8-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:02615ed8c5ea222323408ceba16c60e99c3f91639b07da6373fb7e6539abc56d"},
-    {file = "psutil-5.9.8-cp27-none-win32.whl", hash = "sha256:36f435891adb138ed3c9e58c6af3e2e6ca9ac2f365efe1f9cfef2794e6c93b4e"},
-    {file = "psutil-5.9.8-cp27-none-win_amd64.whl", hash = "sha256:bd1184ceb3f87651a67b2708d4c3338e9b10c5df903f2e3776b62303b26cb631"},
-    {file = "psutil-5.9.8-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:aee678c8720623dc456fa20659af736241f575d79429a0e5e9cf88ae0605cc81"},
-    {file = "psutil-5.9.8-cp36-abi3-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8cb6403ce6d8e047495a701dc7c5bd788add903f8986d523e3e20b98b733e421"},
-    {file = "psutil-5.9.8-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d06016f7f8625a1825ba3732081d77c94589dca78b7a3fc072194851e88461a4"},
-    {file = "psutil-5.9.8-cp36-cp36m-win32.whl", hash = "sha256:7d79560ad97af658a0f6adfef8b834b53f64746d45b403f225b85c5c2c140eee"},
-    {file = "psutil-5.9.8-cp36-cp36m-win_amd64.whl", hash = "sha256:27cc40c3493bb10de1be4b3f07cae4c010ce715290a5be22b98493509c6299e2"},
-    {file = "psutil-5.9.8-cp37-abi3-win32.whl", hash = "sha256:bc56c2a1b0d15aa3eaa5a60c9f3f8e3e565303b465dbf57a1b730e7a2b9844e0"},
-    {file = "psutil-5.9.8-cp37-abi3-win_amd64.whl", hash = "sha256:8db4c1b57507eef143a15a6884ca10f7c73876cdf5d51e713151c1236a0e68cf"},
-    {file = "psutil-5.9.8-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:d16bbddf0693323b8c6123dd804100241da461e41d6e332fb0ba6058f630f8c8"},
-    {file = "psutil-5.9.8.tar.gz", hash = "sha256:6be126e3225486dff286a8fb9a06246a5253f4c7c53b475ea5f5ac934e64194c"},
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+files = [
+    {file = "psutil-6.0.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:a021da3e881cd935e64a3d0a20983bda0bb4cf80e4f74fa9bfcb1bc5785360c6"},
+    {file = "psutil-6.0.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:1287c2b95f1c0a364d23bc6f2ea2365a8d4d9b726a3be7294296ff7ba97c17f0"},
+    {file = "psutil-6.0.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:a9a3dbfb4de4f18174528d87cc352d1f788b7496991cca33c6996f40c9e3c92c"},
+    {file = "psutil-6.0.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:6ec7588fb3ddaec7344a825afe298db83fe01bfaaab39155fa84cf1c0d6b13c3"},
+    {file = "psutil-6.0.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:1e7c870afcb7d91fdea2b37c24aeb08f98b6d67257a5cb0a8bc3ac68d0f1a68c"},
+    {file = "psutil-6.0.0-cp27-none-win32.whl", hash = "sha256:02b69001f44cc73c1c5279d02b30a817e339ceb258ad75997325e0e6169d8b35"},
+    {file = "psutil-6.0.0-cp27-none-win_amd64.whl", hash = "sha256:21f1fb635deccd510f69f485b87433460a603919b45e2a324ad65b0cc74f8fb1"},
+    {file = "psutil-6.0.0-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c588a7e9b1173b6e866756dde596fd4cad94f9399daf99ad8c3258b3cb2b47a0"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6ed2440ada7ef7d0d608f20ad89a04ec47d2d3ab7190896cd62ca5fc4fe08bf0"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fd9a97c8e94059b0ef54a7d4baf13b405011176c3b6ff257c247cae0d560ecd"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2e8d0054fc88153ca0544f5c4d554d42e33df2e009c4ff42284ac9ebdef4132"},
+    {file = "psutil-6.0.0-cp36-cp36m-win32.whl", hash = "sha256:fc8c9510cde0146432bbdb433322861ee8c3efbf8589865c8bf8d21cb30c4d14"},
+    {file = "psutil-6.0.0-cp36-cp36m-win_amd64.whl", hash = "sha256:34859b8d8f423b86e4385ff3665d3f4d94be3cdf48221fbe476e883514fdb71c"},
+    {file = "psutil-6.0.0-cp37-abi3-win32.whl", hash = "sha256:a495580d6bae27291324fe60cea0b5a7c23fa36a7cd35035a16d93bdcf076b9d"},
+    {file = "psutil-6.0.0-cp37-abi3-win_amd64.whl", hash = "sha256:33ea5e1c975250a720b3a6609c490db40dae5d83a4eb315170c4fe0d8b1f34b3"},
+    {file = "psutil-6.0.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:ffe7fc9b6b36beadc8c322f84e1caff51e8703b88eee1da46d1e3a6ae11b4fd0"},
+    {file = "psutil-6.0.0.tar.gz", hash = "sha256:8faae4f310b6d969fa26ca0545338b21f73c6b15db7c4a8d934a5482faa818f2"},
 ]
 
 [package.extras]
@@ -6533,12 +6483,12 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pyperclip"
-version = "1.8.2"
+version = "1.9.0"
 description = "A cross-platform clipboard module for Python. (Only handles plain text for now.)"
 optional = false
 python-versions = "*"
 files = [
-    {file = "pyperclip-1.8.2.tar.gz", hash = "sha256:105254a8b04934f0bc84e9c24eb360a591aaf6535c9def5f29d92af107a9bf57"},
+    {file = "pyperclip-1.9.0.tar.gz", hash = "sha256:b7de0142ddc81bfc5c7507eea19da920b92252b548b96186caf94a5e2527d310"},
 ]
 
 [[package]]
@@ -7302,13 +7252,12 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "2.5.1"
+version = "2.6.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sentry_sdk-2.5.1-py2.py3-none-any.whl", hash = "sha256:1f87acdce4a43a523ae5aa21a3fc37522d73ebd9ec04b1dbf01aa3d173852def"},
-    {file = "sentry_sdk-2.5.1.tar.gz", hash = "sha256:fbc40a78a8a9c6675133031116144f0d0940376fa6e4e1acd5624c90b0aaf58b"},
+    {file = "sentry_sdk-2.6.0-py2.py3-none-any.whl", hash = "sha256:422b91cb49378b97e7e8d0e8d5a1069df23689d45262b86f54988a7db264e874"},
 ]
 
 [package.dependencies]
@@ -7350,21 +7299,6 @@ starlette = ["starlette (>=0.19.1)"]
 starlite = ["starlite (>=1.48)"]
 tornado = ["tornado (>=5)"]
 
-[[package]]
-name = "setuptools"
-version = "70.0.0"
-description = "Easily download, build, install, upgrade, and uninstall Python packages"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "setuptools-70.0.0-py3-none-any.whl", hash = "sha256:54faa7f2e8d2d11bcd2c07bed282eef1046b5c080d1c32add737d7b5817b1ad4"},
-    {file = "setuptools-70.0.0.tar.gz", hash = "sha256:f211a66637b8fa059bb28183da127d4e86396c991a942b028c6650d4319c3fd0"},
-]
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mypy (==1.9)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-
 [[package]]
 name = "shapely"
 version = "2.0.4"
@@ -7708,31 +7642,6 @@ files = [
 [package.extras]
 widechars = ["wcwidth"]
 
-[[package]]
-name = "timezonefinder"
-version = "6.5.2"
-description = "python package for finding the timezone of any point on earth (coordinates) offline"
-optional = false
-python-versions = "<4,>=3.8"
-files = [
-    {file = "timezonefinder-6.5.2-cp310-cp310-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ea7ca91f25d988d69efeae020ed828534ed01f6687646a50e464d82da4704b30"},
-    {file = "timezonefinder-6.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4a3bca9933ea165380d54b336227def58e62682968437cd44223a065ecff7e9"},
-    {file = "timezonefinder-6.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2ac4ef31d379c7ba54710462857bea36a9630ea23550ffb15550322e6988efbd"},
-    {file = "timezonefinder-6.5.2-cp38-cp38-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:524ab145a2f4ce5101e52308868ecd9da0cdcc2cb3024c13356616b41a685fd6"},
-    {file = "timezonefinder-6.5.2-cp39-cp39-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b93927a4996a5c01f0628eb6858c61b2a7f9f49e02c07bed2a95e96a8dc1b65e"},
-    {file = "timezonefinder-6.5.2.tar.gz", hash = "sha256:3279e67d5b1b9a54d1a16f3bd4234169f14e2b90c0f58ed37bcfa7303645d610"},
-]
-
-[package.dependencies]
-cffi = ">=1.15.1,<2"
-h3 = ">=3.7.6,<4"
-numpy = {version = ">=1.23,<3", markers = "python_version >= \"3.9\""}
-setuptools = ">=65.5"
-
-[package.extras]
-numba = ["numba (>=0.56,<1)", "numba (>=0.59,<1)"]
-pytz = ["pytz (>=2022.7.1)"]
-
 [[package]]
 name = "tomli"
 version = "2.0.1"
@@ -8097,4 +8006,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "163f468ff6cad9a08ccf51dfad6ef024ecc0037a0fbbcdbf2fb3b4e95ac3e744"
+content-hash = "1e6eac2db3867ee2e2486738c1790934b8fd93bf46acb933eabcdb22115fedef"
diff --git a/pyproject.toml b/pyproject.toml
index 1aa20b5b8e9887..1f6ac462e1481c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -135,7 +135,6 @@ future-fstrings = "*"
 
 # these should be removed
 psutil = "*"
-timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 #logreader
diff --git a/system/timed.py b/system/timed.py
index 2b9a42c455154e..6c85bf2a253e00 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -1,36 +1,12 @@
 #!/usr/bin/env python3
 import datetime
-import os
 import subprocess
 import time
 from typing import NoReturn
 
-from timezonefinder import TimezoneFinder
-
 import cereal.messaging as messaging
 from openpilot.common.time import system_time_valid
-from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import AGNOS
-
-
-def set_timezone(timezone):
-  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
-  if timezone not in valid_timezones:
-    cloudlog.error(f"Timezone not supported {timezone}")
-    return
-
-  cloudlog.debug(f"Setting timezone to {timezone}")
-  try:
-    if AGNOS:
-      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
-      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
-                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
-      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
-    else:
-      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Error setting timezone to {timezone}")
 
 
 def set_time(new_time):
@@ -48,23 +24,13 @@ def set_time(new_time):
 
 def main() -> NoReturn:
   """
-    timed has two responsibilities:
+    timed has one responsibility:
     - getting the current time
-    - getting the current timezone
 
-    GPS directly gives time, and timezone is looked up from GPS position.
+    GPS directly gives time.
     AGNOS will also use NTP to update the time.
   """
 
-  params = Params()
-
-  # Restore timezone from param
-  tz = params.get("Timezone", encoding='utf8')
-  tf = TimezoneFinder()
-  if tz is not None:
-    cloudlog.debug("Restoring timezone from param")
-    set_timezone(tz)
-
   pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster(['liveLocationKalman'])
   while True:
@@ -84,16 +50,6 @@ def main() -> NoReturn:
     gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
     set_time(gps_time)
 
-    # set timezone
-    pos = llk.positionGeodetic.value
-    if len(pos) == 3:
-      gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
-      if gps_timezone is None:
-        cloudlog.critical(f"No timezone found based on {pos=}")
-      else:
-        set_timezone(gps_timezone)
-        params.put_nonblocking("Timezone", gps_timezone)
-
     time.sleep(10)
 
 if __name__ == "__main__":

From 77a8094f55d35c6f51af72c2928ffe109c9609f9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 19 Jun 2024 22:29:17 -0700
Subject: [PATCH 037/247] add core python deps (#32794)

add core deps
---
 poetry.lock    | 17 ++++++++++++++++-
 pyproject.toml |  3 ++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index d0465821355d82..6445c47b2fa436 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -7299,6 +7299,21 @@ starlette = ["starlette (>=0.19.1)"]
 starlite = ["starlite (>=1.48)"]
 tornado = ["tornado (>=5)"]
 
+[[package]]
+name = "setuptools"
+version = "70.1.0"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "setuptools-70.1.0-py3-none-any.whl", hash = "sha256:d9b8b771455a97c8a9f3ab3448ebe0b29b5e105f1228bba41028be116985a267"},
+    {file = "setuptools-70.1.0.tar.gz", hash = "sha256:01a1e793faa5bd89abc851fa15d0a0db26f160890c7102cd8dce643e886b47f5"},
+]
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+testing = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.10.0)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+
 [[package]]
 name = "shapely"
 version = "2.0.4"
@@ -8006,4 +8021,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.11, <3.13"
-content-hash = "1e6eac2db3867ee2e2486738c1790934b8fd93bf46acb933eabcdb22115fedef"
+content-hash = "778360e20d510948305bf04cff826aeae82b4f830aa8a74955636ded9b54ff1e"
diff --git a/pyproject.toml b/pyproject.toml
index 1f6ac462e1481c..df4fdd760d6c2d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -95,6 +95,7 @@ pyserial = "*"     # pigeond + qcomgpsd
 requests = "*"     # many one-off uses
 sympy = "*"        # rednose + friends
 crcmod = "*"       # cars + qcomgpsd
+tqdm = "*"         # cars (fw_versions.py) on start + many one-off uses
 
 # hardwared
 smbus2 = "*"  # configuring amp
@@ -104,6 +105,7 @@ cffi = "*"
 scons = "*"
 pycapnp = "*"
 Cython = "*"
+setuptools = "*"
 numpy = "*"
 
 # body / webrtcd
@@ -190,7 +192,6 @@ rerun-sdk = "*"
 tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
-tqdm = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

From 776b08d561ebdfa9bd12e92b57ab0770f4a4b4a3 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 20 Jun 2024 15:16:14 +0800
Subject: [PATCH 038/247] replay: fix hangs on exit (#32795)

fix hang on exit
---
 tools/replay/camera.cc |  7 +++++++
 tools/replay/replay.cc | 10 +++++-----
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index b6d4ddc3a29c90..ded966da6d6eb3 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -27,6 +27,13 @@ CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
 CameraServer::~CameraServer() {
   for (auto &cam : cameras_) {
     if (cam.thread.joinable()) {
+      // Clear the queue
+      std::pair<FrameReader*, const Event *> item;
+      while (cam.queue.try_pop(item)) {
+        --publishing_;
+      }
+
+      // Signal termination and join the thread
       cam.queue.push({});
       cam.thread.join();
     }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index c5ad2aa5488b9b..15daecf01fe5cf 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -50,20 +50,20 @@ Replay::~Replay() {
 }
 
 void Replay::stop() {
-  if (!stream_thread_ && segments_.empty()) return;
-
-  rInfo("shutdown: in progress...");
+  exit_ = true;
   if (stream_thread_ != nullptr) {
-    exit_ = true;
+    rInfo("shutdown: in progress...");
     pauseStreamThread();
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
     stream_thread_->deleteLater();
     stream_thread_ = nullptr;
+    rInfo("shutdown: done");
   }
   timeline_future.waitForFinished();
-  rInfo("shutdown: done");
+  camera_server_.reset(nullptr);
+  segments_.clear();
 }
 
 bool Replay::load() {

From a132a235745b2b6ab1e5298b35ac04625cc44502 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 20 Jun 2024 15:52:19 -0700
Subject: [PATCH 039/247] ci: push docker image to openpilot-base (#32801)

* only push to openpilot-base

* comment instead
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 35bab255cb8c25..e9a067041268e2 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -79,7 +79,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:

From 40aa3a03373bff8cf78e220d06a0c92fcfbe44bf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 20 Jun 2024 16:04:29 -0700
Subject: [PATCH 040/247] Toyota: add another blacklisted FW character

---
 selfdrive/car/toyota/tests/test_toyota.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 0217a0fbc1957c..75e3ea70378d87 100644
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -12,7 +12,8 @@
 
 
 def check_fw_version(fw_version: bytes) -> bool:
-  return b'?' not in fw_version
+  # TODO: just use the FW patterns, need to support all chunks
+  return b'?' not in fw_version and b'!' not in fw_version
 
 
 class TestToyotaInterfaces:

From 442e9f4ae492901a5698b3188741c97c053026c4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 20 Jun 2024 16:33:06 -0700
Subject: [PATCH 041/247] Long planner: small cleanup (#32804)

---
 selfdrive/controls/lib/longitudinal_planner.py | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 8772fadb472b2f..00b4e243b4b9ef 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -44,11 +44,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(CP, long_plan):
-    speeds = long_plan.speeds
+def get_accel_from_plan(CP, speeds, accels):
     if len(speeds) == CONTROL_N:
       v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
+      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
       v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
       a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
@@ -141,11 +140,9 @@ def update(self, sm):
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
-    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
-    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
-    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
-    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
+    self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
     self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
@@ -154,7 +151,7 @@ def update(self, sm):
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -179,7 +176,7 @@ def publish(self, sm, pm):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True

From 5aac2e5a8973e6ed07005c5fe822df657def58ff Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 22 Jun 2024 04:29:40 +0800
Subject: [PATCH 042/247] cabana: fix chart value tip flickers when the mouse
 moves over it (#32796)

fix chart value tip flickers
---
 tools/cabana/chart/chart.cc        |  9 +----
 tools/cabana/chart/chart.h         |  1 -
 tools/cabana/chart/chartswidget.cc | 62 +++++++++++++++---------------
 tools/cabana/chart/chartswidget.h  |  7 ++--
 tools/cabana/chart/tiplabel.cc     |  6 ++-
 tools/cabana/mainwin.cc            | 27 +++++++++----
 tools/cabana/mainwin.h             |  3 +-
 7 files changed, 62 insertions(+), 53 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 7a056c7674527b..28d4e068ee7119 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -421,13 +421,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-void ChartView::leaveEvent(QEvent *event) {
-  if (tip_label->isVisible()) {
-    charts_widget->showValueTip(-1);
-  }
-  QChartView::leaveEvent(event);
-}
-
 QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
   QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
   e->setColor(QColor(40, 40, 40, 245));
@@ -546,7 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   bool is_zooming = rubber && rubber->isVisible();
   clearTrackPoints();
 
-  if (!is_zooming && plot_area.contains(ev->pos())) {
+  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
     const double sec = chart()->mapToValue(ev->pos()).x();
     charts_widget->showValueTip(sec);
   } else if (tip_label->isVisible()) {
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index d690a14d1cc112..1bfec6355a6c6d 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -76,7 +76,6 @@ private slots:
   void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
-  void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 59c188afbcdad8..9822eaa3072be0 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -116,13 +116,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) updateLayout(true);
   });
-  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
+  QObject::connect(dock_btn, &QToolButton::clicked, this, &ChartsWidget::toggleChartsDocking);
 
+  setIsDocked(true);
   newTab();
+  qApp->installEventFilter(this);
+
   setWhatsThis(tr(R"(
     <b>Chart view</b><br />
     <!-- TODO: add descprition here -->
@@ -177,8 +176,11 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  if (sec < 0 && !value_tip_visible_) return;
+
+  value_tip_visible_ = sec >= 0;
   for (auto c : currentCharts()) {
-    sec >= 0 ? c->showTip(sec) : c->hideTip();
+    value_tip_visible_ ? c->showTip(sec) : c->hideTip();
   }
 }
 
@@ -209,6 +211,12 @@ void ChartsWidget::setMaxChartRange(int value) {
   updateState();
 }
 
+void ChartsWidget::setIsDocked(bool docked) {
+  is_docked = docked;
+  dock_btn->setIcon(is_docked ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(is_docked ? tr("Float the charts window") : tr("Dock the charts window"));
+}
+
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
@@ -222,8 +230,6 @@ void ChartsWidget::updateToolBar() {
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
 void ChartsWidget::settingChanged() {
@@ -375,11 +381,6 @@ QSize ChartsWidget::minimumSizeHint() const {
   return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
 }
 
-void ChartsWidget::resizeEvent(QResizeEvent *event) {
-  QWidget::resizeEvent(event);
-  updateLayout();
-}
-
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
@@ -432,10 +433,16 @@ void ChartsWidget::alignCharts() {
   }
 }
 
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->clicked();
-    return true;
+bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+    auto pos = static_cast<QMouseEvent *>(e)->globalPos();
+    bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) {
+      return c->chart()->plotArea().contains(c->mapFromGlobal(pos));
+    });
+
+    if (outside_plot_area) {
+      showValueTip(-1);
+    }
   }
   return false;
 }
@@ -443,30 +450,25 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 bool ChartsWidget::event(QEvent *event) {
   bool back_button = false;
   switch (event->type()) {
-    case QEvent::MouseButtonPress: {
-      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-      back_button = ev->button() == Qt::BackButton;
+    case QEvent::Resize:
+      updateLayout();
       break;
-    }
-    case QEvent::NativeGesture: {
-      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-      back_button = (ev->value() == 180);
+    case QEvent::MouseButtonPress:
+      back_button = static_cast<QMouseEvent *>(event)->button() == Qt::BackButton;
+      break;
+    case QEvent::NativeGesture:
+      back_button = (static_cast<QNativeGestureEvent *>(event)->value() == 180);
       break;
-    }
-    case QEvent::WindowActivate:
     case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
     case QEvent::FocusOut:
-    case QEvent::Leave:
       showValueTip(-1);
-      break;
     default:
       break;
   }
 
   if (back_button) {
     zoom_undo_stack->undo();
-    return true;
+    return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
 }
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a9ac05db23ec29..0b948b342184f4 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -47,14 +47,14 @@ public slots:
   void setColumnCount(int n);
   void removeAll();
   void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void setIsDocked(bool dock);
 
 signals:
-  void dock(bool floating);
+  void toggleChartsDocking();
   void seriesChanged();
 
 private:
   QSize minimumSizeHint() const override;
-  void resizeEvent(QResizeEvent *event) override;
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
@@ -85,7 +85,7 @@ public slots:
   LogSlider *range_slider;
   QAction *range_lb_action;
   QAction *range_slider_action;
-  bool docking = true;
+  bool is_docked = true;
   ToolButton *dock_btn;
 
   QAction *undo_zoom_action;
@@ -109,6 +109,7 @@ public slots:
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
+  bool value_tip_visible_ = false;
   friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index f5c9cc9cbd33e7..be71602838196a 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -9,8 +9,12 @@
 #include "tools/cabana/settings.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
+
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
+
   QFont font;
   font.setPointSizeF(8.34563465);
   setFont(font);
@@ -22,9 +26,7 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
   setPalette(palette);
   ensurePolished();
   setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
-  setAttribute(Qt::WA_ShowWithoutActivating);
   setTextFormat(Qt::RichText);
-  setVisible(false);
 }
 
 void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d099fcec9955b3..bf1db63eea6307 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -198,7 +198,7 @@ void MainWindow::createDockWidgets() {
   video_splitter->restoreState(settings.video_splitter_state);
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
+  QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
 }
 
 void MainWindow::createStatusBar() {
@@ -577,20 +577,31 @@ void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
 }
 
-void MainWindow::dockCharts(bool dock) {
-  if (dock && floating_window) {
-    floating_window->removeEventFilter(charts_widget);
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == floating_window && event->type() == QEvent::Close) {
+    toggleChartsDocking();
+    return true;
+  }
+  return QMainWindow::eventFilter(obj, event);
+}
+
+void MainWindow::toggleChartsDocking() {
+  if (floating_window) {
+    // Dock the charts widget back to the main window
+    floating_window->removeEventFilter(this);
     charts_layout->insertWidget(0, charts_widget, 1);
     floating_window->deleteLater();
     floating_window = nullptr;
-  } else if (!dock && !floating_window) {
-    floating_window = new QWidget(this);
-    floating_window->setWindowFlags(Qt::Window);
+    charts_widget->setIsDocked(true);
+  } else {
+    // Float the charts widget in a separate window
+    floating_window = new QWidget(this, Qt::Window);
     floating_window->setWindowTitle("Charts");
     floating_window->setLayout(new QVBoxLayout());
     floating_window->layout()->addWidget(charts_widget);
-    floating_window->installEventFilter(charts_widget);
+    floating_window->installEventFilter(this);
     floating_window->showMaximized();
+    charts_widget->setIsDocked(false);
   }
 }
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0b869f153d2339..77add4d7893a2d 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -21,7 +21,7 @@ class MainWindow : public QMainWindow {
 
 public:
   MainWindow();
-  void dockCharts(bool dock);
+  void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
@@ -46,6 +46,7 @@ public slots:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
   void closeFile(DBCFile *dbc_file);

From 8550a57eaf2aa898cbe823f552f5e0f27927c674 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 21 Jun 2024 21:11:52 -0700
Subject: [PATCH 043/247] [bot] Fingerprints: add missing FW versions from new
 users (#32803)

Export fingerprints
---
 selfdrive/car/chrysler/fingerprints.py | 3 +++
 selfdrive/car/hyundai/fingerprints.py  | 7 ++++---
 selfdrive/car/mazda/fingerprints.py    | 1 +
 selfdrive/car/toyota/fingerprints.py   | 3 +++
 4 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5072aad5c02192..850ef4a570131f 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -290,6 +290,7 @@
     (Ecu.abs, 0x747, None): [
       b'68252642AG',
       b'68306178AD',
+      b'68336275AB',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
@@ -375,6 +376,7 @@
       b'68449435AE ',
       b'68496223AA ',
       b'68504959AD ',
+      b'68504959AE ',
       b'68504960AD ',
       b'68504993AC ',
     ],
@@ -433,6 +435,7 @@
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
+      b'68527383AE',
       b'68527387AE',
       b'68527403AC',
       b'68527403AD',
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e489a3cf641216..8db0849cb2e751 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -2,10 +2,11 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
+Ecu = car.CarParams.Ecu
+
 # The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
 
-Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.HYUNDAI_SANTA_FE: [{
@@ -985,6 +986,7 @@
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
@@ -993,13 +995,12 @@
       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 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
index f460fe9950b0c8..c7b331b1cbdbee 100644
--- a/selfdrive/car/mazda/fingerprints.py
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -16,6 +16,7 @@
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 0866a4d43ca863..92991ba548b245 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -234,6 +234,7 @@
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
       b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
       b'F152633310\x00\x00\x00\x00\x00\x00',
       b'F152633D00\x00\x00\x00\x00\x00\x00',
       b'F152633D60\x00\x00\x00\x00\x00\x00',
@@ -251,6 +252,7 @@
       b'\x018966306T4000\x00\x00\x00\x00',
       b'\x018966306T4100\x00\x00\x00\x00',
       b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x018966333Z1000\x00\x00\x00\x00',
       b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -266,6 +268,7 @@
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },

From bccccde568c05a7a641110c90d4ed95047cdea4e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 22 Jun 2024 18:01:47 -0700
Subject: [PATCH 044/247] remove mapbox references (#32811)

---
 .github/workflows/selfdrive_tests.yaml        |  2 --
 .github/workflows/tools_tests.yaml            |  3 +--
 Jenkinsfile                                   |  3 ---
 selfdrive/test/process_replay/model_replay.py | 25 -------------------
 4 files changed, 1 insertion(+), 32 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e9a067041268e2..ea591cbf47a267 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -123,7 +123,6 @@ jobs:
       timeout-minutes: 15
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -301,7 +300,6 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9a26ca9a20936a..a1c95c046514e6 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -34,8 +34,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run bridge test
       run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
diff --git a/Jenkinsfile b/Jenkinsfile
index 321237716b291d..654aed49c5b6db 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -26,7 +26,6 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
 
@@ -135,10 +134,8 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index cba2edfd58b5a8..28826144e8666c 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -81,31 +81,6 @@ def model_replay(lr, frs):
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # Update tile refs
-  if update:
-    import urllib
-    import requests
-    import threading
-    import http.server
-    from openpilot.tools.lib.openpilotci import upload_bytes
-    os.environ['MAPS_HOST'] = 'http://localhost:5000'
-
-    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
-      def do_GET(self):
-        assert len(self.path) > 10  # Sanity check on path length
-        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
-        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
-        self.send_response(r.status_code)
-        self.send_header('Content-type','text/html')
-        self.end_headers()
-        self.wfile.write(r.content)
-
-    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
-    thread = threading.Thread(None, server.serve_forever, daemon=True)
-    thread.start()
-  else:
-    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
-
   log_msgs = []
   # run replays
   if not NO_MODEL:

From 0c3f1dc016513037643a4ba2765233bb72b83fce Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 23 Jun 2024 13:16:39 -0700
Subject: [PATCH 045/247] setup new docs.comma.ai (#32813)

* start with mkdocs

* some structure

* little more
---
 docs/new/README.md                             | 12 ++++++++++++
 docs/new/docs/car-porting/brand-port.md        |  5 +++++
 docs/new/docs/car-porting/model-port.md        |  5 +++++
 .../new/docs/car-porting/what-is-a-car-port.md |  9 +++++++++
 .../docs/getting-started/what-is-openpilot.md  | 12 ++++++++++++
 docs/new/docs/how-to/turning-the-speed-blue.md |  4 ++++
 docs/new/mkdocs.yml                            | 18 ++++++++++++++++++
 7 files changed, 65 insertions(+)
 create mode 100644 docs/new/README.md
 create mode 100644 docs/new/docs/car-porting/brand-port.md
 create mode 100644 docs/new/docs/car-porting/model-port.md
 create mode 100644 docs/new/docs/car-porting/what-is-a-car-port.md
 create mode 100644 docs/new/docs/getting-started/what-is-openpilot.md
 create mode 100644 docs/new/docs/how-to/turning-the-speed-blue.md
 create mode 100644 docs/new/mkdocs.yml

diff --git a/docs/new/README.md b/docs/new/README.md
new file mode 100644
index 00000000000000..fc6706f799ca40
--- /dev/null
+++ b/docs/new/README.md
@@ -0,0 +1,12 @@
+This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
+
+https://www.mkdocs.org/getting-started/
+
+```
+pip install mkdocs mkdocs-terminal
+mkdocs --serve
+```
+
+inspiration:
+* https://rerun.io/docs/
+* https://docs.expo.dev/
diff --git a/docs/new/docs/car-porting/brand-port.md b/docs/new/docs/car-porting/brand-port.md
new file mode 100644
index 00000000000000..a3daa7a84850f3
--- /dev/null
+++ b/docs/new/docs/car-porting/brand-port.md
@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/new/docs/car-porting/model-port.md b/docs/new/docs/car-porting/model-port.md
new file mode 100644
index 00000000000000..e148a40ecb131b
--- /dev/null
+++ b/docs/new/docs/car-porting/model-port.md
@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/new/docs/car-porting/what-is-a-car-port.md b/docs/new/docs/car-porting/what-is-a-car-port.md
new file mode 100644
index 00000000000000..d089d9513ed9c7
--- /dev/null
+++ b/docs/new/docs/car-porting/what-is-a-car-port.md
@@ -0,0 +1,9 @@
+# What is a car port?
+
+All car ports live in `openpilot/selfdrive/car/`.
+
+* interface.py: Interface for the car, defines the CarInterface class
+* carstate.py: Reads CAN from car and builds openpilot CarState message
+* carcontroller.py: Builds CAN messages to send to car
+* values.py: Limits for actuation, general constants for cars, and supported car documentation
+* radar_interface.py: Interface for parsing radar points from the car
diff --git a/docs/new/docs/getting-started/what-is-openpilot.md b/docs/new/docs/getting-started/what-is-openpilot.md
new file mode 100644
index 00000000000000..de45ae035bc980
--- /dev/null
+++ b/docs/new/docs/getting-started/what-is-openpilot.md
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/new/docs/how-to/turning-the-speed-blue.md b/docs/new/docs/how-to/turning-the-speed-blue.md
new file mode 100644
index 00000000000000..f68faa7b9fd4c1
--- /dev/null
+++ b/docs/new/docs/how-to/turning-the-speed-blue.md
@@ -0,0 +1,4 @@
+This section is for how-to's on common workflows.
+
+They'll be like this blog post we wrote:
+https://blog.comma.ai/turning-the-speed-blue/
diff --git a/docs/new/mkdocs.yml b/docs/new/mkdocs.yml
new file mode 100644
index 00000000000000..b0f571954dbc56
--- /dev/null
+++ b/docs/new/mkdocs.yml
@@ -0,0 +1,18 @@
+site_name: openpilot docs
+docs_dir: docs
+repo_url: https://github.com/commaai/openpilot/
+
+theme:
+  name: terminal
+  features:
+    - navigation.side.toc.hide
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turning-the-speed-blue.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md

From 1c5f0bdbc699f341683be5a42f2e907b26af12e9 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sun, 23 Jun 2024 18:24:09 -0300
Subject: [PATCH 046/247] update pt-BR translation (#32814)

Update main_pt-BR.ts
---
 selfdrive/ui/translations/main_pt-BR.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 8a71612e3af988..0f3ee2363d5a8c 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -497,7 +497,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Captura remota</translation>
     </message>
 </context>
 <context>

From 1de7126d343b6a05b5cf2883b6679993cc53412e Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 24 Jun 2024 07:34:06 -0700
Subject: [PATCH 047/247] [bot] Update Python packages and pre-commit hooks
 (#32818)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |   2 +-
 poetry.lock             | 360 +++++++++++++++++-----------------------
 2 files changed, 157 insertions(+), 205 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ecde9fe7718db2..b853523e42be26 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.9
+    rev: v0.4.10
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/poetry.lock b/poetry.lock
index 6445c47b2fa436..a3aae0b1a2d1ff 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -281,13 +281,13 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.17.0"
+version = "1.17.1"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "azure-identity-1.17.0.tar.gz", hash = "sha256:a1168f223b2d7fa3968362b78affd157a1f3772f310a8cdce883cc515c6c8998"},
-    {file = "azure_identity-1.17.0-py3-none-any.whl", hash = "sha256:501d6c2cbb07826ff5e7cebc05ef319ba45612f31f0bdadca260005798e4ef16"},
+    {file = "azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea"},
+    {file = "azure_identity-1.17.1-py3-none-any.whl", hash = "sha256:db8d59c183b680e763722bfe8ebc45930e6c57df510620985939f7f3191e0382"},
 ]
 
 [package.dependencies]
@@ -591,54 +591,6 @@ files = [
     {file = "charset_normalizer-3.3.2-py3-none-any.whl", hash = "sha256:3e4d1f6587322d2788836a99c69062fbb091331ec940e02d12d179c1d53e25fc"},
 ]
 
-[[package]]
-name = "click"
-version = "8.1.7"
-description = "Composable command line interface toolkit"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
-    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
-]
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[[package]]
-name = "click-plugins"
-version = "1.1.1"
-description = "An extension module for click to enable registering CLI commands via setuptools entry-points."
-optional = false
-python-versions = "*"
-files = [
-    {file = "click-plugins-1.1.1.tar.gz", hash = "sha256:46ab999744a9d831159c3411bb0c79346d94a444df9a3a3742e9ed63645f264b"},
-    {file = "click_plugins-1.1.1-py2.py3-none-any.whl", hash = "sha256:5d262006d3222f5057fd81e1623d4443e41dcda5dc815c06b442aa3c02889fc8"},
-]
-
-[package.dependencies]
-click = ">=4.0"
-
-[package.extras]
-dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"]
-
-[[package]]
-name = "cligj"
-version = "0.7.2"
-description = "Click params for commmand line interfaces to GeoJSON"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4"
-files = [
-    {file = "cligj-0.7.2-py3-none-any.whl", hash = "sha256:c1ca117dbce1fe20a5809dc96f01e1c2840f6dcc939b3ddbb1111bf330ba82df"},
-    {file = "cligj-0.7.2.tar.gz", hash = "sha256:a4bc13d623356b373c2c27c53dbd9c68cae5d526270bfa71f6c6fa69669c6b27"},
-]
-
-[package.dependencies]
-click = ">=4.0"
-
-[package.extras]
-test = ["pytest-cov"]
-
 [[package]]
 name = "cloudpickle"
 version = "3.0.0"
@@ -764,63 +716,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.5.3"
+version = "7.5.4"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1075,13 +1027,13 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.15.3"
+version = "3.15.4"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1089,53 +1041,6 @@ docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1
 testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
 typing = ["typing-extensions (>=4.8)"]
 
-[[package]]
-name = "fiona"
-version = "1.9.6"
-description = "Fiona reads and writes spatial data files"
-optional = false
-python-versions = ">=3.7"
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-]
-
-[package.dependencies]
-attrs = ">=19.2.0"
-certifi = "*"
-click = ">=8.0,<9.0"
-click-plugins = ">=1.0"
-cligj = ">=0.5"
-six = "*"
-
-[package.extras]
-all = ["fiona[calc,s3,test]"]
-calc = ["shapely"]
-s3 = ["boto3 (>=1.3.1)"]
-test = ["fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
-
 [[package]]
 name = "flaky"
 version = "3.8.1"
@@ -1325,22 +1230,26 @@ rewrite = ["tokenize-rt (>=3)"]
 
 [[package]]
 name = "geopandas"
-version = "0.14.4"
+version = "1.0.0"
 description = "Geographic pandas extensions"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "geopandas-0.14.4-py3-none-any.whl", hash = "sha256:3bb6473cb59d51e1a7fe2dbc24a1a063fb0ebdeddf3ce08ddbf8c7ddc99689aa"},
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+    {file = "geopandas-1.0.0.tar.gz", hash = "sha256:386d42c028047e2b0f09191d7859268304761c4711a247173a88891b6161f711"},
 ]
 
 [package.dependencies]
-fiona = ">=1.8.21"
 numpy = ">=1.22"
 packaging = "*"
 pandas = ">=1.4.0"
+pyogrio = ">=0.7.2"
 pyproj = ">=3.3.0"
-shapely = ">=1.8.0"
+shapely = ">=2.0.0"
+
+[package.extras]
+all = ["GeoAlchemy2", "SQLAlchemy (>=1.3)", "folium", "geopy", "mapclassify", "matplotlib (>=3.5.0)", "psycopg-binary (>=3.1.0)", "pyarrow (>=8.0.0)", "xyzservices"]
+dev = ["black", "codecov", "pre-commit", "pytest (>=3.1.0)", "pytest-cov", "pytest-xdist"]
 
 [[package]]
 name = "google-crc32c"
@@ -1543,22 +1452,22 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "7.1.0"
+version = "7.2.1"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "importlib_metadata-7.2.1.tar.gz", hash = "sha256:509ecb2ab77071db5137c655e24ceb3eee66e7bbc6574165d0d114d9fc4bbe68"},
 ]
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "iniconfig"
@@ -2269,13 +2178,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.28.1"
+version = "1.29.0"
 description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "msal-1.29.0.tar.gz", hash = "sha256:8f6725f099752553f9b2fe84125e2a5ebe47b49f92eacca33ebedd3a9ebaae25"},
 ]
 
 [package.dependencies]
@@ -2288,22 +2197,18 @@ broker = ["pymsalruntime (>=0.13.2,<0.17)"]
 
 [[package]]
 name = "msal-extensions"
-version = "1.1.0"
+version = "1.2.0"
 description = "Microsoft Authentication Library extensions (MSAL EX) provides a persistence API that can save your data on disk, encrypted on Windows, macOS and Linux. Concurrent data access will be coordinated by a file lock mechanism."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "msal_extensions-1.2.0.tar.gz", hash = "sha256:6f41b320bfd2933d631a215c91ca0dd3e67d84bd1a2f50ce917d5874ec646bef"},
 ]
 
 [package.dependencies]
-msal = ">=0.4.1,<2.0.0"
-packaging = "*"
-portalocker = [
-    {version = ">=1.0,<3", markers = "platform_system != \"Windows\""},
-    {version = ">=1.6,<3", markers = "platform_system == \"Windows\""},
-]
+msal = ">=1.29,<2"
+portalocker = ">=1.4,<3"
 
 [[package]]
 name = "multidict"
@@ -3039,13 +2944,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "portalocker"
-version = "2.8.2"
+version = "2.10.0"
 description = "Wraps the portalocker recipe for easy usage"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -6404,6 +6309,52 @@ files = [
 pyobjc-core = ">=10.3.1"
 pyobjc-framework-Cocoa = ">=10.3.1"
 
+[[package]]
+name = "pyogrio"
+version = "0.9.0"
+description = "Vectorized spatial vector file format I/O using GDAL/OGR"
+optional = false
+python-versions = ">=3.8"
+files = [
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+    {file = "pyogrio-0.9.0.tar.gz", hash = "sha256:6a6fa2e8cf95b3d4a7c0fac48bce6e5037579e28d3eb33b53349d6e11f15e5a8"},
+]
+
+[package.dependencies]
+certifi = "*"
+numpy = "*"
+packaging = "*"
+
+[package.extras]
+benchmark = ["pytest-benchmark"]
+dev = ["Cython"]
+geopandas = ["geopandas"]
+test = ["pytest", "pytest-cov"]
+
 [[package]]
 name = "pyopencl"
 version = "2024.2.6"
@@ -7152,28 +7103,28 @@ docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.4.9"
+version = "0.4.10"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "ruff-0.4.9.tar.gz", hash = "sha256:f1cb0828ac9533ba0135d148d214e284711ede33640465e706772645483427e3"},
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+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:c75c53bb79d71310dc79fb69eb4902fba804a81f374bc86a9b117a8d077a1784"},
+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:18238c80ee3d9100d3535d8eb15a59c4a0753b45cc55f8bf38f38d6a597b9739"},
+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:d8f71885bce242da344989cae08e263de29752f094233f932d4f5cfb4ef36a81"},
+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:330421543bd3222cdfec481e8ff3460e8702ed1e58b494cf9d9e4bf90db52b9d"},
+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9e9b6fb3a37b772628415b00c4fc892f97954275394ed611056a4b8a2631365e"},
+    {file = "ruff-0.4.10-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0f54c481b39a762d48f64d97351048e842861c6662d63ec599f67d515cb417f6"},
+    {file = "ruff-0.4.10-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:67fe086b433b965c22de0b4259ddfe6fa541c95bf418499bedb9ad5fb8d1c631"},
+    {file = "ruff-0.4.10-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:acfaaab59543382085f9eb51f8e87bac26bf96b164839955f244d07125a982ef"},
+    {file = "ruff-0.4.10-py3-none-musllinux_1_2_i686.whl", hash = "sha256:3cea07079962b2941244191569cf3a05541477286f5cafea638cd3aa94b56815"},
+    {file = "ruff-0.4.10-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:338a64ef0748f8c3a80d7f05785930f7965d71ca260904a9321d13be24b79695"},
+    {file = "ruff-0.4.10-py3-none-win32.whl", hash = "sha256:ffe3cd2f89cb54561c62e5fa20e8f182c0a444934bf430515a4b422f1ab7b7ca"},
+    {file = "ruff-0.4.10-py3-none-win_amd64.whl", hash = "sha256:67f67cef43c55ffc8cc59e8e0b97e9e60b4837c8f21e8ab5ffd5d66e196e25f7"},
+    {file = "ruff-0.4.10-py3-none-win_arm64.whl", hash = "sha256:dd1fcee327c20addac7916ca4e2653fbbf2e8388d8a6477ce5b4e986b68ae6c0"},
+    {file = "ruff-0.4.10.tar.gz", hash = "sha256:3aa4f2bc388a30d346c56524f7cacca85945ba124945fe489952aadb6b5cd804"},
 ]
 
 [[package]]
@@ -7258,6 +7209,7 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "sentry_sdk-2.6.0-py2.py3-none-any.whl", hash = "sha256:422b91cb49378b97e7e8d0e8d5a1069df23689d45262b86f54988a7db264e874"},
+    {file = "sentry_sdk-2.6.0.tar.gz", hash = "sha256:65cc07e9c6995c5e316109f138570b32da3bd7ff8d0d0ee4aaf2628c3dd8127d"},
 ]
 
 [package.dependencies]
@@ -7690,13 +7642,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.32.0.20240602"
+version = "2.32.0.20240622"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.32.0.20240602.tar.gz", hash = "sha256:3f98d7bbd0dd94ebd10ff43a7fbe20c3b8528acace6d8efafef0b6a184793f06"},
-    {file = "types_requests-2.32.0.20240602-py3-none-any.whl", hash = "sha256:ed3946063ea9fbc6b5fc0c44fa279188bae42d582cb63760be6cb4b9d06c3de8"},
+    {file = "types-requests-2.32.0.20240622.tar.gz", hash = "sha256:ed5e8a412fcc39159d6319385c009d642845f250c63902718f605cd90faade31"},
+    {file = "types_requests-2.32.0.20240622-py3-none-any.whl", hash = "sha256:97bac6b54b5bd4cf91d407e62f0932a74821bc2211f22116d9ee1dd643826caf"},
 ]
 
 [package.dependencies]
@@ -7754,13 +7706,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.2"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
-    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]

From 8b7ffc96b5598327848e53d1a22400b0baed343f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 24 Jun 2024 23:54:17 +0800
Subject: [PATCH 048/247] cabana: fixed row height issue in multi-line hex
 display (#32816)

fix multile line bytes
---
 tools/cabana/messageswidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 396cfdc38bab59..d6c2fd0ea929ec 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -411,7 +411,7 @@ void MessageView::updateBytesSectionSize() {
       max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  setUniformRowHeights(!delegate->multipleLines() || max_bytes <= 8);
+  setUniformRowHeights(!delegate->multipleLines());
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 

From dc418485970952a780baef7ef069d858220e58e5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 15:11:20 -0700
Subject: [PATCH 049/247] deleter: preserve two previous segments on user flag
 (#32822)

preserve 2 segs
---
 system/loggerd/deleter.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 2f0b96c90e02b9..7d83b490b0ff7f 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -37,9 +37,9 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
     except ValueError:
       continue
 
-    # preserve segment and its prior
-    preserved.append(d)
-    preserved.append(f"{date_str}--{seg_num - 1}")
+    # preserve segment and two prior
+    for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
+      preserved.append(f"{date_str}--{_seg_num}")
 
   return preserved
 

From 36d5bb7ecc8288dfb52f624b7d4ba3070d0ae683 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 15:42:30 -0700
Subject: [PATCH 050/247] [bot] Fingerprints: add missing FW versions from new
 users (#32823)

Export fingerprints
---
 docs/CARS.md                             | 2 +-
 selfdrive/car/chrysler/fingerprints.py   | 4 ++++
 selfdrive/car/chrysler/values.py         | 2 +-
 selfdrive/car/volkswagen/fingerprints.py | 4 ++++
 4 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2c32a77f0c7794..488526c4b29770 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -27,7 +27,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2017|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 2017">Buy Here</a></sub></details>||
 |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>||
+|Chrysler|Pacifica Hybrid 2019-24|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 2019-24">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||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |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>||
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 850ef4a570131f..018505a9172f4e 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -232,6 +232,7 @@
       b'68540436AD',
       b'68598670AB',
       b'68598670AC',
+      b'68645752AA',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416741AA',
@@ -253,6 +254,7 @@
       b'68526772AD ',
       b'68526772AH ',
       b'68599493AC ',
+      b'68657433AA ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
       b'05185116AF',
@@ -267,6 +269,7 @@
       b'68540977AH',
       b'68540977AK',
       b'68597647AE',
+      b'68632416AB',
     ],
   },
   CAR.JEEP_GRAND_CHEROKEE: {
@@ -539,6 +542,7 @@
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
+      b'68378696AK ',
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 42ea94cf86c069..3315a0a98388d5 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -41,7 +41,7 @@ class CAR(Platforms):
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fea530b29bdd8c..71bdb2cfd4eaad 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -574,6 +574,7 @@
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026EJ\xf1\x893916',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -604,6 +605,7 @@
       b'\xf1\x870DD300046K \xf1\x892302',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -617,6 +619,7 @@
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
@@ -636,6 +639,7 @@
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
       b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',

From 76f7b2793d5a32eb4577a2fc579a56ce41209738 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 16:12:48 -0700
Subject: [PATCH 051/247] [bot] Fingerprints: add missing FW versions from new
 users (#32825)

* Export fingerprints

* sedan should work too
---
 docs/CARS.md                         | 4 ++--
 selfdrive/car/honda/fingerprints.py  | 3 +++
 selfdrive/car/honda/values.py        | 4 ++--
 selfdrive/car/toyota/fingerprints.py | 1 +
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 488526c4b29770..1df45c188df743 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -62,9 +62,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.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=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 8a5b79b41e39d9..0904d5e12c1c8a 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -877,7 +877,10 @@
       b'36161-T20-A070\x00\x00',
       b'36161-T20-A080\x00\x00',
       b'36161-T24-T070\x00\x00',
+      b'36161-T47-A050\x00\x00',
       b'36161-T47-A070\x00\x00',
+      b'8S102-T20-AA10\x00\x00',
+      b'8S102-T47-AA10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c3005c667c822e..5a78995c0a5aaf 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -141,8 +141,8 @@ class CAR(Platforms):
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
     HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 92991ba548b245..7bbb48c8f86701 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -851,6 +851,7 @@
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
       b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [

From b4181598336f4eb8ca5e52d29c4d5938777e4902 Mon Sep 17 00:00:00 2001
From: Joshua Mack <joshnoodle@gmail.com>
Date: Mon, 24 Jun 2024 20:30:21 -0400
Subject: [PATCH 052/247] Multilang: Add Spanish translation (#32826)

* Rebase ES support

* Update already existing

* Update translations

* Retry

* Updated to new

* Completed

* Fixed clipping words offroad

* Fix up mistakes

* Shortening minute

* Fix long GitHub message
---
 selfdrive/ui/translations/languages.json |    1 +
 selfdrive/ui/translations/main_es.ts     | 1155 ++++++++++++++++++++++
 2 files changed, 1156 insertions(+)
 create mode 100644 selfdrive/ui/translations/main_es.ts

diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 321cdeedd2e0db..132b5088d7e199 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -3,6 +3,7 @@
   "Deutsch": "main_de",
   "Français": "main_fr",
   "Português": "main_pt-BR",
+  "Español": "main_es",
   "Türkçe": "main_tr",
   "العربية": "main_ar",
   "ไทย": "main_th",
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
new file mode 100644
index 00000000000000..ee262c095325fc
--- /dev/null
+++ b/selfdrive/ui/translations/main_es.ts
@@ -0,0 +1,1155 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="es_ES">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Cerrar</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Posponer Actualización</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Reiniciar y Actualizar</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Activar Tether</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Contraseña de Tethering</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>EDITAR</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Nueva contraseña de tethering</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>Dirección IP</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Activar Roaming</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>Configuración de APN</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>Insertar APN</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>dejar en blanco para configuración automática</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation>Plano de datos limitado</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation>Evitar grandes descargas de datos cuando tiene una conexión limitada</translation>
+    </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Red Oculta</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECTAR</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>Ingrese SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingrese contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>VELOCIDAD</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Debe aceptar los terminos y condiciones para poder utilizar openpilot.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Atrás</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Rechazar, desinstalar %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Emparejar Dispositivo</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Cámara del conductor</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>VISUALIZAR</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (El vehículo tiene que estar apagado)</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Reiniciar Calibración</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>REINICIAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>¿Seguro qué quiere reiniciar la calibración?</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Revisar la Guía de Entrenamiento</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>REVISAR</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Revisar las reglas, características y limitaciones de openpilot</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>¿Seguro qué quiere revisar la guía de entrenamiento?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>Revisar</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Regulador</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>VER</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Cambiar Idioma</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>CAMBIAR</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione el idioma</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot requiere que el dispositivo sea montado entre 4° izquierda o derecha y entre 5° arriba o 9° abajo. openpilot está constantemente en calibración, reiniciar es rara vez necesario.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Su dispositivo está apuntando %1° %2 e %3° %4.</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>abajo</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>arriba</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>izquierda</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>derecha</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>¿Seguro qué quiere reiniciar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Desactivar para Reiniciar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>¿Seguro qué quiere apagar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Desactivar para apagar</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
+    <message>
+        <source>camera starting</source>
+        <translation>iniciando cámara</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODO EXPERIMENTAL</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>MODO TRANQUILO</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>¡Necesita mínimo %n caractere!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Instalando...</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seleccione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avanzado</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingresar contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Contraseña equivocada</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Temperatura de dispositivo muy alta. Systema enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Inmediatamente conectar al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciara en %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conectar al internet para buscar actualizaciones. openpilot no iniciara automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Incapaz de descargar actualizaciones.
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tomando instantáneas de la cámara. El sistema no se iniciará hasta que finalice.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>El dispositivo no pudo registrarse. No se conectará ni cargará en los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidad NVMe no montada.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Se detectó una unidad NVMe no compatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a que NVMe no es compatible.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Envíe una solicitud de extracción para agregar las versiones de firmware al vehículo adecuado. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que comma power esté completamente insertada en el puerto OBD-II del vehículo. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot no disponible</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>Esperando que los controles inicien</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>TOME CONTROL INMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controles no responden</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Empareje su dispositivo con su cuenta de comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Ve a https://connect.comma.ai en su telefono</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Clic en &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Marcar connect.comma.ai como su pantalla de inicio para usarlo como una aplicación</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Actualizar Ahora</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Hazte miembro prime de comma en connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>BENEFICIOS PRIME:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Acceso remoto</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>Conectividad LTE 24/7</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1 año de almacenamiento en disco</translation>
+    </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Istantánea remota</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ SUSCRITO</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Salir</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>now</source>
+        <translation>ahora</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>hace %n min</numerusform>
+            <numerusform>hace %n mins</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>hace %n hora</numerusform>
+            <numerusform>hace %n horas</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>hace %n día</numerusform>
+            <numerusform>hace %n días</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Reset fallido. Reinicie de nuevo.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>Reiniciando dispositivo...
+Esto puede tardar hasta un minuto.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>¿Seguro que quiere reiniciar su dispositivo?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>Reiniciar Sistema</translation>
+    </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Reinicio del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Confirmar</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo.</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Red</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Asegurese de que la URL insertada es válida, y que el dispositivo tiene buena conexión.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>No hay software personalizado en esta URL.</translation>
+    </message>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>ALERTA: Volage bajo</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Encender su dispositivo en el auto con el arnés o proceda bajo su propio riesgo.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Continuar</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Comenzando</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Antes de comenzar, terminemos la instalación y cubramos algunos detalles.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectar a la Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Continuar sin Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>Esperando conexión a internet</translation>
+    </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Elija el software para instalar</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Software personalizado</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>Insertar URL</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>para Software personalizado</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>Descargando...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>Descarga fallida</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Comenzar de nuevo</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione el idioma</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Terminar configuración</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Emparejar dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>SIN LINEA</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>EN LINEA</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>ERROR</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>ALTA</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>BUENO</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>VEHÍCULO</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>SIN</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>BUSQUEDA</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation>Apague el auto para descargar actualizaciones.</translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation>Versión Actual</translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation>Descargar</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation>Actualizar</translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation>INSTALAR</translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation>Rama objetivo</translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation>SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation>Selecione una rama</translation>
+    </message>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Desinstalar %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>DESINSTALAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>¿Seguro qué desea desinstalar?</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>Desinstalar</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>no se pudo buscar actualización</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>DESCARGAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>actualización disponible</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>actualizado, último chequeo %1</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>Clave SSH</translation>
+    </message>
+    <message>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca inserte un nombre de usuario de Github que no sea suyo. Un empleado de comma nunca le pedirá que añada su nombre de Github.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>AÑADIR</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Ingresa tu usuario de GitHub</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>CARGANDO</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>ELIMINAR</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Nombre de usuario &quot;%1” no tiene claves en GitHub</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>Solicitud expirada</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Nombre de usuario &apos;%1&apos; no existe en Github</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>Habilitar SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Terminos &amp; Condiciones</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Rechazar</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Desliza para aceptar</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Aceptar</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>Activar openpilot</translation>
+    </message>
+    <message>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Utilice el sistema openpilot para control de crucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Control longitudinal de openpilot (Alfa)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>Aviso: el control longitudinal de openpilot está en fase alfa para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>En este vehículo, openpilot se configura de manera predeterminada con el Control de Crucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal alfa de openpilot.</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>Modo Experimental</translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation>Desactivar con el Acelerador</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará el openpilot.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Activar Aviso de Salida de Carril</translation>
+    </message>
+    <message>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>Recibir alertas para volver dentro del carril cuando su vehículo se sale fuera del carril sin que esté activado la señal de giro mientras esté conduciendo por encima de 50 km/h (31 mph).</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Monitoreo del Conductor Siempre Activo</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Habilite el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Grabar y Subir Cámara del Conductor</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitorización del conductor.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Usar Sistema Métrico</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Mostrar velocidad en km/h en vez de mph.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Agresivo</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Estándar</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Relajado</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Personalidad de conducción</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Se recomienda estándar. En el modo agresivo, openpilot seguirá a los autos líderes más cerca y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los coches líderes. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que no están listos para el modo chill. Los recursos del modo expeimental están listados abajo:</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>🌮 Control Longitudinal de Punta a Punta 🌮</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot va a conducir como lo haría una persona, incluiyendo parar en los semaforos en rojo y las señales de stop. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida actuará como limitador. Este recurso es de una calidad alfa; errores pueden ocurrir.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>Nueva Visualización de la conducción</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental se mostrará en la esquina superior derecha.</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC del auto está siendo usado para el control longitudinal.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas sin liberación.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Activar el control longitudinal experimental para permitir el modo Experimental.</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Actualización Requerida</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo a Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectarse a la Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Instalar</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Cargando...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Actualización fallida</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurar Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Conectar a Wi-Fi para subir los datos de conducir para mejorar openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Abrir Configuraciones</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Listo para subir</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Los datos de entrenamiento se extraerán periódicamente mientras tu dispositivo esté conectado a Wi-Fi</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Buscando redes...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>CONECTANDO...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>OLVIDAR</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Olvidar Red Wi-Fi &quot;%1&quot;?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>Olvidar</translation>
+    </message>
+</context>
+</TS>

From 0922ab2b8ddbb38a8664bdb53bff063e3f018547 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 24 Jun 2024 19:11:35 -0700
Subject: [PATCH 053/247] ui: add missing qt package on 24.04 (#32827)

fix qml
---
 tools/install_ubuntu_dependencies.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 2513df86b93081..4373760ce6af4b 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -53,6 +53,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     portaudio19-dev \
+    qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtdeclarative5-dev \
     qttools5-dev-tools \

From 36eafc0dc6ea73bcc59df216a3231ae54960a282 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 24 Jun 2024 19:14:57 -0800
Subject: [PATCH 054/247] Hyundai CAN: Log ABS/ESP Activation to `espActive`
 (#32743)

* Hyundai CAN: Log active ABS to accFaulted

* Add comments

* `espActive` to CarState and CarEvent.EventName

* re-order

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 cereal/car.capnp                  | 2 ++
 selfdrive/car/hyundai/carstate.py | 1 +
 selfdrive/car/interfaces.py       | 2 ++
 selfdrive/controls/lib/events.py  | 5 +++++
 4 files changed, 10 insertions(+)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index c17e1c063fc3b8..3df23d99214ea2 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
+    espActive @121;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -194,6 +195,7 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 92c489cf34e257..41cb9ee4573188 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -119,6 +119,7 @@ def update(self, cp, cp_cam):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e5762ed52aaa78..54070284e4750f 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -280,6 +280,8 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index b01818d704bf22..25833da741879c 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -831,6 +831,11 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.espActive: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),

From 9a27512c821f3d00ab63b5e857b8051186ee193e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 25 Jun 2024 17:19:24 -0700
Subject: [PATCH 055/247] Genesis GV70: add "without HDA II" to docs (#32835)

* without!

* comment
---
 docs/CARS.md                    | 4 ++--
 selfdrive/car/hyundai/values.py | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 1df45c188df743..769fe6e27aa15d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -54,8 +54,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert 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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8cb29c803c5be9..8ed0edd3195f7d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -520,8 +520,9 @@ class CAR(Platforms):
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,

From 669553aa37382af7e9a3d4a3b9036b949c1f9dbc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 26 Jun 2024 12:45:44 +0800
Subject: [PATCH 056/247] ui: remove map & navigation related code (#32836)

remove map
---
 selfdrive/ui/qt/home.cc                    |  7 +--
 selfdrive/ui/qt/home.h                     |  1 -
 selfdrive/ui/qt/onroad/annotated_camera.cc | 61 ++--------------------
 selfdrive/ui/qt/onroad/annotated_camera.h  |  3 --
 selfdrive/ui/qt/onroad/onroad_home.cc      | 11 ----
 selfdrive/ui/qt/onroad/onroad_home.h       |  8 ---
 selfdrive/ui/qt/util.cc                    | 54 -------------------
 selfdrive/ui/qt/util.h                     |  3 --
 selfdrive/ui/translations/main_ar.ts       |  8 ---
 selfdrive/ui/translations/main_de.ts       |  8 ---
 selfdrive/ui/translations/main_es.ts       |  8 ---
 selfdrive/ui/translations/main_fr.ts       |  8 ---
 selfdrive/ui/translations/main_ja.ts       |  8 ---
 selfdrive/ui/translations/main_ko.ts       |  8 ---
 selfdrive/ui/translations/main_pt-BR.ts    |  8 ---
 selfdrive/ui/translations/main_th.ts       |  8 ---
 selfdrive/ui/translations/main_tr.ts       |  8 ---
 selfdrive/ui/translations/main_zh-CHS.ts   |  8 ---
 selfdrive/ui/translations/main_zh-CHT.ts   |  8 ---
 selfdrive/ui/ui.cc                         |  3 +-
 selfdrive/ui/ui.h                          |  2 +-
 21 files changed, 6 insertions(+), 235 deletions(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index c510087e8e33df..af946c79872871 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -28,7 +28,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
-  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -49,10 +48,6 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
-void HomeWindow::showMapPanel(bool show) {
-  onroad->showMapPanel(show);
-}
-
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -86,7 +81,7 @@ void HomeWindow::showDriverView(bool show) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    sidebar->setVisible(!sidebar->isVisible());
   }
 }
 
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index f60b80b21a9ce3..a19b70ac3f3ef5 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,7 +55,6 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
-  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 07016ef94ab138..b08420a71309e1 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -28,10 +28,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
   const bool cs_alive = sm.alive("controlsState");
-  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
-  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -47,12 +45,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
-  speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
-  speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
-
-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
@@ -78,30 +70,18 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
-  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
-  // Draw outer box + border to contain set speed and speed limit
-  const int sign_margin = 12;
-  const int us_sign_height = 186;
-  const int eu_sign_size = 176;
-
+  // Draw outer box + border to contain set speed
   const QSize default_size = {172, 204};
   QSize set_speed_size = default_size;
-  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-
-  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
-
-  int top_radius = 32;
-  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+  if (is_metric) set_speed_size.rwidth() = 200;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
-  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+  p.drawRoundedRect(set_speed_rect, 32, 32);
 
   // Draw MAX
   QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
@@ -111,12 +91,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
       max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    } else if (speedLimit > 0) {
-      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
-        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
-      };
-      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
-      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
     max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -129,35 +103,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 
-  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
-  // US/Canada (MUTCD style) sign
-  if (has_us_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect, 24, 24);
-    p.setPen(QPen(blackColor(), 6));
-    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
-    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-    p.setFont(InterFont(70, QFont::Bold));
-    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-  }
-
-  // EU (Vienna style) sign
-  if (has_eu_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawEllipse(sign_rect);
-    p.setPen(QPen(Qt::red, 20));
-    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
-
-    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-    p.setPen(blackColor());
-    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
-  }
-
   // current speed
   p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 1470b85f78592d..465ba23e049636 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -22,15 +22,12 @@ class AnnotatedCameraWidget : public CameraWidget {
   float speed;
   QString speedUnit;
   float setSpeed;
-  float speedLimit;
   bool is_cruise_set = false;
   bool is_metric = false;
   bool dmActive = false;
   bool hideBottomIcons = false;
   bool rightHandDM = false;
   float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index f8c7d8035042a6..823e14bf3c58a4 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -44,12 +44,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
   alerts->updateState(s);
   nvg->updateState(s);
 
@@ -61,11 +55,6 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 }
 
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
   alerts->clear();
 }
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index e8fa19b04618f3..c321d2d44f479c 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -8,20 +8,12 @@ class OnroadWindow : public QWidget {
 
 public:
   OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
 
 private:
-  void createMapWidget();
   void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
   QHBoxLayout* split;
 
 private slots:
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 0bf5f2865e240a..399a1a98d7b374 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -156,60 +156,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
-  qreal w_2 = rect.width() / 2;
-  qreal h_2 = rect.height() / 2;
-
-  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
-  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
-
-  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
-  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
-
-  qreal x = rect.x();
-  qreal y = rect.y();
-  qreal w = rect.width();
-  qreal h = rect.height();
-
-  qreal rxx2Top = w*xRadiusTop/100;
-  qreal ryy2Top = h*yRadiusTop/100;
-
-  qreal rxx2Bottom = w*xRadiusBottom/100;
-  qreal ryy2Bottom = h*yRadiusBottom/100;
-
-  QPainterPath path;
-  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
-  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
-  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
-  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
-  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
-  path.closeSubpath();
-
-  painter.drawPath(path);
-}
-
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
-  assert(xp.size() == fp.size());
-
-  int N = xp.size();
-  int hi = 0;
-
-  while (hi < N and xv > xp[hi]) hi++;
-  int low = hi - 1;
-
-  if (hi == N && xv > xp[low]) {
-    return fp[fp.size() - 1];
-  } else if (hi == 0){
-    return fp[0];
-  } else {
-    return QColor(
-      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
-      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
-      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
-      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
-  }
-}
-
 static QHash<QString, QByteArray> load_bootstrap_icons() {
   QHash<QString, QByteArray> icons;
 
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 2aae97b8602d3e..2bf1a70a62a437 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -26,9 +26,6 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
 QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
-
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
 
 struct InterFont : public QFont {
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 9925a2c7a95dde..a8a1f29d233e1b 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index a4f9963d6764e2..0b2b794ac4e913 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>Geschwindigkeit</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index ee262c095325fc..941b30e2d09116 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VELOCIDAD</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 7f7c07d1bb27f6..480d70c481092a 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VITESSE</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 39b018cfba2491..c4481868239acd 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 36247a6197f90f..40d07d9b1c6c42 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 0f3ee2363d5a8c..c0c7fcb3e83df0 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>LIMITE</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index d4a33398bed4b0..1d7aa3df00541f 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>สูงสุด</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>ความเร็ว</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>จำกัด</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 36d11dbe61ebd6..3fabd5a384cb9c 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation type="unfinished">HIZ</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation type="unfinished">LİMİT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 79a6e95501b791..255886a15e0987 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index ec6131892eef58..9cea6a1bbc4e50 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 2b415b119789e8..bd26741193b625 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -214,7 +214,6 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
-  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
 void UIState::updateStatus() {
@@ -244,7 +243,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
+    "wideRoadCameraState", "managerState", "clocks",
   });
 
   Params params;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9ef79b2effc26e..237abe122416fd 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -98,7 +98,7 @@ typedef struct UIScene {
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool started, ignition, is_metric, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;

From 0c9f1d8118081d90d9f867448ccf1c2fcaa794eb Mon Sep 17 00:00:00 2001
From: pantew869 <pantew@proton.me>
Date: Wed, 26 Jun 2024 20:47:25 +0300
Subject: [PATCH 057/247] Bring back macOS CI (#32819)

* Attempt to enable macos CI

* add SKIP_PROMPT

* test

* add python warnings env variable

* pull from lfs

* use v4 checkout

* Update selfdrive_tests.yaml

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 .github/workflows/selfdrive_tests.yaml | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index ea591cbf47a267..b042ae04350c25 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -86,6 +86,23 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        SKIP_PROMPT: 1
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Test openpilot environment
+      run: poetry run scons -h
 
   static_analysis:
     name: static analysis

From a256898510e5592b08db14e27e0abbe9fe802c8e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:40:24 +0800
Subject: [PATCH 058/247] cereal: remove messaging/.gitignore (#32839)

cleanup gitignore
---
 .gitignore                  |  1 +
 cereal/messaging/.gitignore | 10 ----------
 2 files changed, 1 insertion(+), 10 deletions(-)
 delete mode 100644 cereal/messaging/.gitignore

diff --git a/.gitignore b/.gitignore
index f067893c77ed9c..ac61591bfd49c9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -43,6 +43,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore
deleted file mode 100644
index dbbe8e22aee488..00000000000000
--- a/cereal/messaging/.gitignore
+++ /dev/null
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/

From 4c04ae9a59a8e9e4dadec9933b99182982125206 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:52:11 +0800
Subject: [PATCH 059/247] ui/installer: hardcode SSH Keys in installer.cc
 (#32838)

hardcode keys
---
 selfdrive/ui/SConscript             | 4 ----
 selfdrive/ui/installer/installer.cc | 4 +++-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 8b268b9e84878b..9046ecc2280470 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -106,10 +106,6 @@ if GetOption('extras') and arch != "Darwin":
     if "internal" in name:
       d['INTERNAL'] = "1"
 
-      import requests
-      r = requests.get("https://github.com/commaci2.keys")
-      r.raise_for_status()
-      d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index d43ed37ae8aa92..17f6ba19abd08f 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -180,10 +180,12 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
 
+  // https://github.com/commaci2.keys
+  const std::string ssh_keys = "ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIMX2kU8eBZyEWmbq0tjMPxksWWVuIV/5l64GabcYbdpI";
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
-    {"GithubSshKeys", SSH_KEYS},
+    {"GithubSshKeys", ssh_keys},
   };
   for (const auto& [key, value] : params) {
     std::ofstream param;

From fccba867a97a0150b572550e44f62ae22f8079c1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:52:36 +0800
Subject: [PATCH 060/247] cereal: use nanos_since_boot() from common/timing.h
 (#32840)

Use nanos_since_boot() from common/timing.h
---
 cereal/messaging/messaging.h     | 14 ++------------
 cereal/messaging/socketmaster.cc |  8 --------
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
index f3850130e655e2..fb9c261f2b57ea 100644
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -5,20 +5,13 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
 #include "msgq/ipc.h"
 
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -53,10 +46,7 @@ class MessageBuilder : public capnp::MallocMessageBuilder {
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
     event.setValid(valid);
     return event;
   }
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index cd697b1f51ed20..38b9842414ebb1 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -1,4 +1,3 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 
-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;

From 046ed7e9f8c69423c25e15f97bfd5783734dc551 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Wed, 26 Jun 2024 14:51:27 -0700
Subject: [PATCH 061/247] Cleanup "longitudinalPlan" fields (#32845)

---
 selfdrive/controls/lib/longitudinal_planner.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 00b4e243b4b9ef..c59955d551ed97 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -159,15 +159,11 @@ def publish(self, sm, pm):
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
-
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
 
-    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
-
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()

From 84725738c8fd429263474da424e96134bdeef367 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 26 Jun 2024 17:13:55 -0800
Subject: [PATCH 062/247] Hyundai: Add FW Versions for EU Ioniq 5 2023 (#32833)

---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 8db0849cb2e751..e33f3e415ec2cf 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1001,6 +1001,7 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

From fb6d44797a48f730eac1a380644f338f7249510c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 26 Jun 2024 18:33:07 -0700
Subject: [PATCH 063/247] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 7287ff0cbf3ab4..376408bb4f6706 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7287ff0cbf3ab405a670405f2faca419d524387d
+Subproject commit 376408bb4f6706b682eb6d607bedd14958665084

From b7695c00e87819dd6aac49cfec78e438dfc15d16 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Jun 2024 21:27:10 -0700
Subject: [PATCH 064/247] GM torque control: robust sig function (#32847)

tricky
---
 selfdrive/car/gm/interface.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 5ea2b198916d2b..d088050482a351 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -53,7 +53,12 @@ def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
-      return 1 / (1 + exp(-val)) - 0.5
+      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+      if val >= 0:
+        return 1 / (1 + exp(-val)) - 0.5
+      else:
+        z = exp(val)
+        return z / (1 + z) - 0.5
 
     # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)

From 504dd4543dd7fd6c466817faa82cda42b6b55542 Mon Sep 17 00:00:00 2001
From: StefanLekanic-SYRMIA
 <156184842+StefanLekanic-SYRMIA@users.noreply.github.com>
Date: Thu, 27 Jun 2024 06:15:13 +0100
Subject: [PATCH 065/247] LogReader: print number of missing rlogs (#32830)

* count rlogs

* minimization changes

* cache to avoid duplicate checks

* no real point in checking qlogs to just show the warning

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/lib/logreader.py | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 98c10941bb96a1..f6932c029aeb43 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import bz2
-from functools import partial
+from functools import cache, partial
 import multiprocessing
 import capnp
 import enum
@@ -87,18 +87,21 @@ class ReadMode(enum.StrEnum):
 
 InternalUnavailableException = Exception("Internal source not available")
 
+
+@cache
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
 
 def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
-  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths) and all(qlog is not None and valid_file(qlog) for qlog in qlog_paths):
+  missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
+  if missing_rlogs != 0:
     if interactive:
-      if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]

From 649e7a6d558b33d05d63012a43b2e4af88262b4c Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 28 Jun 2024 05:43:21 +0800
Subject: [PATCH 066/247] radard: readable KalmanParams initialization (#32848)

fix kalmanparams initialization bug
---
 selfdrive/controls/radard.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 7420f666f7a3c2..ac3ec97dcce514 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -37,7 +37,7 @@ def __init__(self, dt: float):
     #Q = np.matrix([[10., 0.0], [0.0, 100.]])
     #R = 1e3
     #K = np.matrix([[ 0.05705578], [ 0.03073241]])
-    dts = [dt * 0.01 for dt in range(1, 21)]
+    dts = [i * 0.01 for i in range(1, 21)]
     K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
           0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
           0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,

From 69d4b0fdf0ff2856b7a2785d8210f42d654374da Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 14:44:26 -0700
Subject: [PATCH 067/247] ruff: check shadowed variables (#32851)

* check shadowed variables

* fix
---
 .pre-commit-config.yaml        |  2 +-
 pyproject.toml                 |  3 ++-
 selfdrive/debug/can_printer.py | 12 ++++++------
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b853523e42be26..b50a586507e985 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.10
+    rev: v0.5.0
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/pyproject.toml b/pyproject.toml
index df4fdd760d6c2d..a300021c38f6cd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -209,7 +209,8 @@ lint.select = [
   "UP",  # pyupgrade
   "TRY302", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
-  "TID251"
+  "TID251",
+  "PLR1704",
 ]
 lint.ignore = [
   "E741",
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index 220008979d1029..b93e48ba73ee11 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -23,12 +23,12 @@ def can_printer(bus, max_msg, addr, ascii_decode):
     if time.monotonic() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += f"{time.monotonic() - start:5.2f}\n"
-      for addr in sorted(msgs.keys()):
-        a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
-        x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
-        freq = len(msgs[addr]) / (time.monotonic() - start)
-        if max_msg is None or addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
+      for _addr in sorted(msgs.keys()):
+        a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
+        x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
+        freq = len(msgs[_addr]) / (time.monotonic() - start)
+        if max_msg is None or _addr < max_msg:
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
       print(dd)
       lp = time.monotonic()
 

From 4a70934625321a822ee2b98396b45311603cb9fc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 15:35:21 -0700
Subject: [PATCH 068/247] Increase test_car_interfaces examples (#32852)

* to 100!

* Update selfdrive/car/tests/test_car_interfaces.py
---
 selfdrive/car/tests/test_car_interfaces.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index a6f74d685f2db5..742bafc76a0ce3 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -23,7 +23,7 @@
 
 ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
 
-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:

From 12d5afba731b193b6992304c9e31b87603602ae6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 17:04:05 -0700
Subject: [PATCH 069/247] switch to uv (#32853)

* switch to uv

* pin back numpy

* remove lock

* try without cache

* test with no cache

* no cache for all

* debug

* remove debug

* remove pygame dep

* Update README.md

* remove lower bound

* update repo maintenance job

* upgradable

* repo maintenance

* copy poetry api

* build system

* unpin pygame

* readd cache

* readd cache

* basic command

* lower delay

* macos

* fix authors

* macos fix

* use uv

* preview

* other way

* new metadrive

* uv sync

* cp lock in docker

* fix docker

* use hatchling

* fix devcontainer

* fix container

* path

* uv run

* cleanup

* pre-commit

* format

* release_file
---
 .devcontainer/Dockerfile                |    3 +-
 .github/workflows/repo-maintenance.yaml |    6 +-
 .github/workflows/selfdrive_tests.yaml  |    5 +-
 .github/workflows/tools_tests.yaml      |   10 +-
 .pre-commit-config.yaml                 |   11 +-
 Dockerfile.openpilot_base               |   11 +-
 poetry.lock                             | 7976 -----------------------
 pyproject.toml                          |  255 +-
 release/release_files.py                |    2 +-
 tools/README.md                         |   13 +-
 tools/install_python_dependencies.sh    |   32 +-
 uv.lock                                 | 7828 ++++++++++++++++++++++
 12 files changed, 7996 insertions(+), 8156 deletions(-)
 delete mode 100644 poetry.lock
 create mode 100644 uv.lock

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 1115c375db4647..53a06f6f31db77 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,7 +1,8 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
 RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0e6606112bfe68..26b5e09f48961e 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,10 +41,10 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: poetry lock
+    - name: uv lock
       run: |
-        pip install poetry
-        poetry lock
+        pip install uv
+        uv lock
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b042ae04350c25..c2b321525b73fa 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -62,7 +62,6 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
@@ -86,7 +85,7 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-      
+
   build_mac:
     name: build macos
     runs-on: macos-latest
@@ -102,7 +101,7 @@ jobs:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - name: Test openpilot environment
-      run: poetry run scons -h
+      run: . .venv/bin/activate && scons -h
 
   static_analysis:
     name: static analysis
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index a1c95c046514e6..a04d5e6b6b8c67 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -53,10 +53,8 @@ jobs:
         python-version: '3.11.4'
     - name: Installing pip
       run: pip install pip==24.0
-    - name: Installing poetry
-      run: pip install poetry==1.7.0
-    - name: Installing python dependencies
-      run: poetry install --no-cache --no-root
+    - name: Installing uv
+      run: pip install uv
     - name: git LFS
       run: git lfs pull
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
@@ -69,7 +67,7 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
-      run: poetry run scons -u -j$(nproc)
+      run: uv run scons -u -j$(nproc)
     - name: Saving scons cache
       uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
@@ -100,6 +98,6 @@ jobs:
     - name: Test environment
       run: |
         devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b50a586507e985..297b2d720cfe62 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
         args:
         - --maxkb=120
         - --enforce-all
@@ -27,7 +27,7 @@ repos:
     rev: v2.3.0
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
@@ -92,13 +92,6 @@ repos:
         language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
     rev: 0.28.5
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 343fd29c82178a..a5028d4347d95c 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -68,16 +68,15 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml poetry.lock /tmp/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV VIRTUAL_ENV=/home/$USER/venv/.venv
-RUN python3 -m venv $VIRTUAL_ENV
+ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN . $VIRTUAL_ENV/bin/activate && \
-    cd /tmp && \
+RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
     rm -rf /tmp/* && \
     rm -rf /home/$USER/.cache
 
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index a3aae0b1a2d1ff..00000000000000
--- a/poetry.lock
+++ /dev/null
@@ -1,7976 +0,0 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
-
-[[package]]
-name = "aiohttp"
-version = "3.9.5"
-description = "Async http client/server framework (asyncio)"
-optional = false
-python-versions = ">=3.8"
-files = [
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-]
-
-[metadata]
-lock-version = "2.0"
-python-versions = ">=3.11, <3.13"
-content-hash = "778360e20d510948305bf04cff826aeae82b4f830aa8a74955636ded9b54ff1e"
diff --git a/pyproject.toml b/pyproject.toml
index a300021c38f6cd..6912d80f0f57d4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,12 +1,140 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
-readme = "README.md"
 license = {text = "MIT License"}
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = [
+  {name ="Vehicle Researcher", email="user@comma.ai"}
+]
+
+dependencies = [
+  # multiple users
+  "sounddevice",  # micd + soundd
+  "pyserial",     # pigeond + qcomgpsd
+  "requests",     # many one-off uses
+  "sympy",        # rednose + friends
+  "crcmod",       # cars + qcomgpsd
+  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
+
+  # hardwared
+  "smbus2", # configuring amp
+
+  # core
+  "cffi",
+  "scons",
+  "pycapnp",
+  "Cython",
+  "setuptools",
+  "numpy < 2.0.0", # control does not support numpy 2
+
+  # body / webrtcd
+  "aiohttp",
+  "aiortc",
+  "pyaudio",
+
+  # panda
+  "libusb1",
+  "spidev; platform_system == 'Linux'",
+
+  # modeld
+  "onnx >= 1.14.0",
+  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
+  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+
+  # logging
+  "pyzmq",
+  "sentry-sdk",
+
+  # athena
+  "PyJWT",
+  "json-rpc",
+  "websocket_client",
+
+  # acados deps
+  "casadi",
+  "future-fstrings",
+
+  # these should be removed
+  "psutil",
+  "pycryptodome", # used in updated/casync, panda, body, and a test
+
+  #logreader
+  "zstd",
+]
+
+[project.optional-dependencies]
+docs = [
+  "Jinja2",
+  "sphinx",
+  "sphinx-rtd-theme",
+  "sphinx-sitemap"
+]
+
+testing = [
+  "coverage",
+  "hypothesis ==6.47.*",
+  "mypy",
+  "pre-commit",
+  "pytest",
+  "pytest-cov",
+  "pytest-cpp",
+  "pytest-subtests",
+  "pytest-xdist",
+  "pytest-timeout",
+  "pytest-randomly",
+  "pytest-asyncio",
+  "pytest-mock",
+  "pytest-repeat",
+  "ruff"
+]
+
+dev = [
+  "av",
+  "azure-identity",
+  "azure-storage-blob",
+  "breathe",
+  "control",
+  "dictdiffer",
+  "flaky",
+  "inputs",
+  "lru-dict",
+  "matplotlib",
+  "metadrive-simulator; platform_machine != 'aarch64'",
+  "mpld3",
+  "myst-parser",
+  "natsort",
+  "opencv-python-headless",
+  "parameterized >=0.8, <0.9",
+  #pprofile = "*"
+  "pyautogui",
+  "pygame",
+  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pywinctl",
+  "pyprof2calltree",
+  "rerun-sdk",
+  "tabulate",
+  "types-requests",
+  "types-tabulate",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
+
+]
+
+[tool.uv.sources]
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
 
 [project.urls]
 Homepage = "https://comma.ai"
 
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = [ "." ]
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -75,131 +203,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
-
-[tool.poetry]
-name = "openpilot"
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = ["Vehicle Researcher <user@comma.ai>"]
-license = "MIT"
-readme = "README.md"
-repository = "https://github.com/commaai/openpilot"
-documentation = "https://docs.comma.ai"
-
-[tool.poetry.dependencies]
-python = ">=3.11, <3.13"
-
-# multiple users
-sounddevice = "*"  # micd + soundd
-pyserial = "*"     # pigeond + qcomgpsd
-requests = "*"     # many one-off uses
-sympy = "*"        # rednose + friends
-crcmod = "*"       # cars + qcomgpsd
-tqdm = "*"         # cars (fw_versions.py) on start + many one-off uses
-
-# hardwared
-smbus2 = "*"  # configuring amp
-
-# core
-cffi = "*"
-scons = "*"
-pycapnp = "*"
-Cython = "*"
-setuptools = "*"
-numpy = "*"
-
-# body / webrtcd
-aiohttp = "*"
-aiortc = "*"
-pyaudio = "*"
-
-# panda
-libusb1 = "*"
-spidev = { version = "*", platform = "linux" }
-
-# modeld
-onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
-# logging
-pyzmq = "*"
-sentry-sdk = "*"
-
-# athena
-PyJWT = "*"
-json-rpc = "*"
-websocket_client = "*"
-
-# acados deps
-casadi = "*"
-future-fstrings = "*"
-
-# these should be removed
-psutil = "*"
-pycryptodome = "*"  # used in updated/casync, panda, body, and a test
-
-#logreader
-zstd = "*"
-
-[tool.poetry.group.docs.dependencies]
-Jinja2 = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
-
-[tool.poetry.group.testing.dependencies]
-coverage = "*"
-hypothesis = "~6.47"
-mypy = "*"
-pre-commit = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
-ruff = "*"
-
-[tool.poetry.group.dev.dependencies]
-av = "*"
-azure-identity = "*"
-azure-storage-blob = "*"
-breathe = "*"
-control = "*"
-dictdiffer = "*"
-flaky = "*"
-inputs = "*"
-lru-dict = "*"
-matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
-mpld3 = "*"
-myst-parser = "*"
-natsort = "*"
-opencv-python-headless = "*"
-parameterized = "^0.8"
-#pprofile = "*"
-pyautogui = "*"
-pygame = "*"
-pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
-pywinctl = "*"
-pyprof2calltree = "*"
-rerun-sdk = "*"
-tabulate = "*"
-types-requests = "*"
-types-tabulate = "*"
-
-# this is only pinned since 5.15.11 is broken
-pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
-
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/release/release_files.py b/release/release_files.py
index 031b51737d7656..24ce6d14b33448 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -23,7 +23,7 @@
   "^common/tests/",
 
   # particularly large text files
-  "poetry.lock",
+  "uv.lock",
   "third_party/catch2",
   "selfdrive/car/tests/test_models.*",
 
diff --git a/tools/README.md b/tools/README.md
index f465ea12343e5d..521a12ca927de5 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -26,16 +26,23 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 ``` bash
 cd openpilot
-git lfs pull
 tools/ubuntu_setup.sh
 ```
 
+**3. Git LFS**
+
+``` bash
+git lfs pull
+```
+
+**4. Activate a python shell**
+
 Activate a shell with the Python dependencies installed:
 ``` bash
-poetry shell
+source .venv/bin/activate
 ```
 
-**3. Build openpilot**
+**5. Build openpilot**
 
 ``` bash
 scons -u -j$(nproc)
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 086fc2d14f8653..e6c8d5df8264f7 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -8,22 +8,17 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
 
-RC_FILE="${HOME}/.$(basename ${SHELL})rc"
-if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-if ! command -v "poetry" > /dev/null 2>&1; then
-  echo "installing poetry..."
-  curl -sSL https://install.python-poetry.org | python3 -
-  POETRY_BIN='$HOME/.local/bin'
-  ADD_PATH_CMD="export PATH=\"$POETRY_BIN:\$PATH\""
+if ! command -v "uv" > /dev/null 2>&1; then
+  echo "installing uv..."
+  curl -LsSf https://astral.sh/uv/install.sh | sh
+  UV_BIN='$HOME/.cargo/env'
+  ADD_PATH_CMD=". \"$UV_BIN\""
   eval $ADD_PATH_CMD
-  printf "\n#poetry path\n$ADD_PATH_CMD\n" >> $RC_FILE
 fi
 
-poetry config virtualenvs.prefer-active-python true --local
-poetry config virtualenvs.in-project true --local
+echo "installing python packages..."
+uv sync --all-extras
+source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
@@ -32,15 +27,8 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
 
-poetry self add poetry-dotenv-plugin@^0.1.0
-
-echo "installing python packages..."
-poetry install --no-cache --no-root
-
-[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
-
 if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
   echo "pre-commit hooks install..."
-  $RUN pre-commit install
-  $RUN git submodule foreach pre-commit install
+  pre-commit install
+  git submodule foreach pre-commit install
 fi
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 00000000000000..e5676da3846304
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,7828 @@
+version = 1
+requires-python = ">=3.11"
+
+[[distribution]]
+name = "aiohttp"
+version = "3.9.5"
+source = "registry+https://pypi.org/simple"
+sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
+wheels = [
+	{ url = "https://files.pythonhosted.org/packages/bb/6b/baa5886a66dc4a9fe60df3fff543ac0cdbac3d18347889f17023b15bdceb/aiohttp-3.9.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:fcde4c397f673fdec23e6b05ebf8d4751314fa7c24f93334bf1f1364c1c69ac7", size = 597148 },
+	{ url = "https://files.pythonhosted.org/packages/e7/3d/557ca9d4867e0e17f69694e514999c3de0a63c11964701600c9719171b97/aiohttp-3.9.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:5d6b3f1fabe465e819aed2c421a6743d8debbde79b6a8600739300630a01bf2c", size = 400697 },
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+	{ url = "https://files.pythonhosted.org/packages/6a/89/ae02b82f2a3fea651a439ac6a08f27ed6eaf58b81e1cfff960a1125332ca/zstd-1.5.5.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5d9ba4f6af0945809bfa3387c6a1208a22937a876521b9ec347e7183d623311b", size = 168053 },
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+	{ url = "https://files.pythonhosted.org/packages/f4/f4/fc09d90503a43ff71baba4670929c3c03c147a17252870e99e30e3de5994/zstd-1.5.5.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:610928b888a2e7ae9d2018ffa814859d47ec4ba75f89a1188ab4eb9232636ee5", size = 242436 },
+	{ url = "https://files.pythonhosted.org/packages/bc/26/a8472d043a9f531a3dccb44e69266905804bb4671b48176d9e534f204c1c/zstd-1.5.5.1-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ee3c9feea99c7f4ff43129a885da056b5aa0cde3f7876bf6397bfb9433f44352", size = 249476 },
+	{ url = "https://files.pythonhosted.org/packages/a4/f7/6f5d9350be2c3709a7f8a911f763ba645ff130b5a904bfff79370cae1e21/zstd-1.5.5.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c6ac9768eeb3c6b530db93de2fec9b363776075dc8a00ee4049612ba5397ca8e", size = 168053 }
+]

From a74f79421360b62840624bb84215981b51c6858d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 17:47:13 -0700
Subject: [PATCH 070/247] uv: don't use cache (#32854)

* no cache

* update
---
 tools/install_python_dependencies.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index e6c8d5df8264f7..0a8275d50c819c 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -16,8 +16,12 @@ if ! command -v "uv" > /dev/null 2>&1; then
   eval $ADD_PATH_CMD
 fi
 
+echo "updating uv..."
+uv self update
+
+# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv sync --all-extras
+uv --no-cache sync --all-extras
 source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env

From d0423dcab214e644ce4dc4102c29d6e1de9ef1d8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 17:56:09 -0700
Subject: [PATCH 071/247] [bot] Fingerprints: add missing FW versions from new
 users (#32855)

Export fingerprints
---
 selfdrive/car/hyundai/fingerprints.py | 2 +-
 selfdrive/car/toyota/fingerprints.py  | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e33f3e415ec2cf..54454409e8ac2a 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -988,6 +988,7 @@
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -1001,7 +1002,6 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 7bbb48c8f86701..50ff376321c523 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -160,6 +160,7 @@
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
@@ -205,6 +206,7 @@
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
@@ -799,6 +801,7 @@
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],

From 2d3c6cbe04775ddbb337826e35f9ce64f2cd7716 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 19:44:55 -0700
Subject: [PATCH 072/247] Hyundai: remove CAN fingerprints (#32856)

* expand date range for KIA_NIRO_EV

9004767ba8fe7321/2024-06-05--04-30-48

* remove and format
---
 selfdrive/car/hyundai/fingerprints.py | 38 +--------------------------
 1 file changed, 1 insertion(+), 37 deletions(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 54454409e8ac2a..8dbdbee0ef552e 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1,4 +1,3 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
@@ -8,42 +7,6 @@
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
 
 
-FINGERPRINTS = {
-  CAR.HYUNDAI_SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  },
-  {
-    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
-  }],
-  CAR.HYUNDAI_SONATA: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G90: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
-  }],
-  CAR.HYUNDAI_KONA_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
-  }],
-  CAR.HYUNDAI_KONA_EV_2022: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
-  }],
-  CAR.KIA_NIRO_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_OPTIMA_H: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  }],
-}
-
 FW_VERSIONS = {
   CAR.HYUNDAI_AZERA_6TH_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -713,6 +676,7 @@
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',

From 579b131a6efe67463d5b2d06abe743302c9cdc08 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 20:29:11 -0700
Subject: [PATCH 073/247] retry uv update (#32858)

retry
---
 tools/install_python_dependencies.sh | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 0a8275d50c819c..4e37d1347f7749 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -8,6 +8,20 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
 
+# updating uv on macOS results in 403 sometimes
+function update_uv() {
+  for i in $(seq 1 5);
+  do
+    if uv self update; then
+      return 0
+    else
+      sleep 2
+    fi
+  done
+  echo "Failed to update uv 5 times!"
+  exit 1
+}
+
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
   curl -LsSf https://astral.sh/uv/install.sh | sh
@@ -17,7 +31,7 @@ if ! command -v "uv" > /dev/null 2>&1; then
 fi
 
 echo "updating uv..."
-uv self update
+update_uv
 
 # TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."

From 66e1810c0de88f4b927b7a46d12ba96304052ace Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 20:55:15 -0700
Subject: [PATCH 074/247] uv: don't exit if update fails (#32859)

dont exit if fails
---
 tools/install_python_dependencies.sh | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 4e37d1347f7749..276de58db70b0e 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -19,7 +19,6 @@ function update_uv() {
     fi
   done
   echo "Failed to update uv 5 times!"
-  exit 1
 }
 
 if ! command -v "uv" > /dev/null 2>&1; then

From 6f10b8a20989031d4cc04e8b8ce38eaea4a4824e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 28 Jun 2024 16:58:19 -0700
Subject: [PATCH 075/247] fix pytest tests (#32867)

* fix tests

* no dot
---
 docs/WORKFLOW.md                  | 2 +-
 pyproject.toml                    | 2 +-
 system/updated/tests/test_base.py | 2 +-
 tools/lib/tests/test_logreader.py | 6 ++++++
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 85ae8d86f46f76..1babe3c94a568d 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -22,7 +22,7 @@ scons -j8 selfdrive/ui/
 cd selfdrive/ui/ && scons -u -j8
 
 # test everything
-pytest .
+pytest
 
 # test just logging services
 cd system/loggerd && pytest .
diff --git a/pyproject.toml b/pyproject.toml
index 6912d80f0f57d4..fc2356645bc931 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,7 @@ packages = [ "." ]
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 928d07cbe35892..52287c58f9b744 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -133,7 +133,7 @@ def _test_finalized_update(self, branch, version, agnos_version, release_notes):
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
     assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"<p>{release_notes}</p>\n"
+    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n"
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 6bc7ba8773435b..f827c259027914 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -27,8 +27,14 @@ def noop(segment: LogIterable):
 @contextlib.contextmanager
 def setup_source_scenario(mocker, is_internal=False):
   internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source")
+  internal_source_mock.__name__ = internal_source_mock._mock_name
+
   openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source")
+  openpilotci_source_mock.__name__ = openpilotci_source_mock._mock_name
+
   comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source")
+  comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
+
   if is_internal:
     internal_source_mock.return_value = [QLOG_FILE]
   else:

From a4185042de17b51f47ca4fcfaacfd7bb9f07b888 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 29 Jun 2024 00:51:19 +0000
Subject: [PATCH 076/247] Update README.md

---
 docs/new/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/new/README.md b/docs/new/README.md
index fc6706f799ca40..13980d1e18b0c2 100644
--- a/docs/new/README.md
+++ b/docs/new/README.md
@@ -4,7 +4,7 @@ https://www.mkdocs.org/getting-started/
 
 ```
 pip install mkdocs mkdocs-terminal
-mkdocs --serve
+mkdocs serve
 ```
 
 inspiration:

From 2059f986dff46254419c889eadcc82ecea1bce94 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 28 Jun 2024 19:27:58 -0700
Subject: [PATCH 077/247] drivingModelData: new model packet for qlogs (#32821)

* Mini model v2 prototype

* Apply suggestions

* Add meta

* Support for new packet in model

* Support in process replay

* Meta

* Add it to services

* Update model replay

* Add drivingModelData in model_replay

* Update ref

* MAX_FRAMES*3

* No modelv2, but drivingModelData at 2hz

* Polypath

* Dont use keyword

* Update model ref commit

* xyz coeff

* Fix field name

* Update ref commit

* Min qlog size 0.6

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 cereal/log.capnp                              | 31 +++++++++++++++++
 cereal/services.py                            |  3 +-
 selfdrive/modeld/constants.py                 |  2 ++
 selfdrive/modeld/fill_model_msg.py            | 33 +++++++++++++++++--
 selfdrive/modeld/modeld.py                    | 10 ++++--
 selfdrive/test/process_replay/model_replay.py |  6 ++--
 .../process_replay/model_replay_ref_commit    |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/test_onroad.py                 |  2 +-
 9 files changed, 78 insertions(+), 13 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3c720d45261cb7..20b033196e06d1 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -868,6 +868,36 @@ struct ControlsState @0x97ff69c53601abf1 {
   vPidDEPRECATED @2 :Float32;
 }
 
+struct DrivingModelData {
+  frameId @0 :UInt32;
+  frameIdExtra @1 :UInt32;
+
+  action @2 :ModelDataV2.Action;
+
+  laneLineMeta @3 :LaneLineMeta;
+  meta @4 :MetaData;
+
+  path @5 :PolyPath;
+
+  struct PolyPath {
+    xCoefficients @0 :List(Float32);
+    yCoefficients @1 :List(Float32);
+    zCoefficients @2 :List(Float32);
+  }
+
+  struct LaneLineMeta {
+    leftY @0 :Float32;
+    rightY @1 :Float32;
+    leftProb @2 :Float32;
+    rightProb @3 :Float32;
+  }
+
+  struct MetaData {
+    laneChangeState @0 :LaneChangeState;
+    laneChangeDirection @1 :LaneChangeDirection;
+  }
+}
+
 # All SI units and in device frame
 struct XYZTData @0xc3cbae1fd505ae80 {
   x @0 :List(Float32);
@@ -2263,6 +2293,7 @@ struct Event {
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
+    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
diff --git a/cereal/services.py b/cereal/services.py
index ca9139c4317513..5329719c2a989a 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -60,7 +60,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20., 0),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ca81bffcc88ce3..871685797ab672 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -59,6 +59,8 @@ class ModelConstants:
   RYG_GREEN = 0.01165
   RYG_YELLOW = 0.06157
 
+  POLY_PATH_DEGREE = 4
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index f6a57f1a4027c7..2f719c1ee6ad99 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -41,13 +41,30 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
   if a_std is not None:
     builder.aStd = a_std.tolist()
 
-def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  msg.valid = valid
+  extended_msg.valid = valid
+  base_msg.valid = valid
 
-  modelV2 = msg.modelV2
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+
+  action = driving_model_data.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
@@ -67,6 +84,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   orientation_rate = modelV2.orientationRate
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
   # lateral planning
   action = modelV2.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -98,6 +119,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
+  lane_line_meta = driving_model_data.laneLineMeta
+  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
+  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
+  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
+  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+
   # road edges
   modelV2.init('roadEdges', 2)
   for i in range(2):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1e33b7b3f09a88..d5812d6f5af3fd 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -149,7 +149,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
 
   publish_state = PublishState()
@@ -259,9 +259,10 @@ def main(demo=False):
 
     if model_output is not None:
       modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -270,9 +271,12 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
 
     last_vipc_frame_id = meta_main.frame_id
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 28826144e8666c..9a7b9695ffdb32 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -96,10 +96,10 @@ def model_replay(lr, frs):
       all_logs = list(LogReader(BASE_URL + log_fn))
       cmp_log = []
 
-      # logs are ordered based on type: modelV2, driverStateV2
+      # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
       if not NO_MODEL:
-        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
-        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
+        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
+        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
         dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
         cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 87f1adfadad766..995e024de06aff 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-73eb11111fb6407fa307c3f2bdd3331f2514c707
+b0d295609abb0f84c34ffb104c1b1a0bb855352f
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a55396002b6658..c7f57fd9bca413 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -565,7 +565,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
   ProcessConfig(
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
-    subs=["modelV2", "cameraOdometry"],
+    subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7574a5e4abce16..78486a176d47a9 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,7 +206,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.7 < sz < 1.0
+        assert 0.6 < sz < 1.0
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 417f1e2139ba6037c9fd6494f68194e36e243540 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Sat, 29 Jun 2024 02:31:55 -0700
Subject: [PATCH 078/247] drivingModelData: frameDropPerc (#32871)

* Smokes! lets go!

* Ignore it in model replay
---
 cereal/log.capnp                              | 1 +
 selfdrive/modeld/fill_model_msg.py            | 4 +++-
 selfdrive/test/process_replay/model_replay.py | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 20b033196e06d1..3a53db9cc45a83 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -871,6 +871,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
 
   action @2 :ModelDataV2.Action;
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 2f719c1ee6ad99..03f6d1b0163975 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -53,6 +53,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
@@ -60,6 +61,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -68,7 +70,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop * 100
+  modelV2.frameDropPerc = frame_drop_perc
   modelV2.timestampEof = timestamp_eof
   modelV2.modelExecutionTime = model_execution_time
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9a7b9695ffdb32..0e43cad820ba57 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -105,6 +105,7 @@ def model_replay(lr, frs):
 
       ignore = [
         'logMonoTime',
+        'drivingModelData.frameDropPerc',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',

From 406bcd79e1b3c189848d2bce6948d68a8dfa1339 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 29 Jun 2024 12:52:31 -0700
Subject: [PATCH 079/247] update uv.lock (#32873)

uv lock
---
 uv.lock | 11119 +++++++++++++++++++++++++-----------------------------
 1 file changed, 5080 insertions(+), 6039 deletions(-)

diff --git a/uv.lock b/uv.lock
index e5676da3846304..ec5267d0994a5f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4,7825 +4,6866 @@ requires-python = ">=3.11"
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From cec8d5a305c6dd91a9e7c965e23884ca9ed84aac Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 30 Jun 2024 08:34:46 +0800
Subject: [PATCH 080/247] logmessaged: remove the redundant nested print
 (#32872)

remove the redundant nested print
---
 system/logmessaged.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/logmessaged.py b/system/logmessaged.py
index 46bf79b0b21cb6..c095c261926b8c 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -31,7 +31,7 @@ def main() -> NoReturn:
 
       if len(record) > 2*1024*1024:
         print("WARNING: log too big to publish", len(record))
-        print(print(record[:100]))
+        print(record[:100])
         continue
 
       # then we publish them

From bda4d2df632612a616777a5c9ca3b40404bc384f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 30 Jun 2024 09:38:56 -0700
Subject: [PATCH 081/247] stale bot: fix milestone exemption

---
 .github/workflows/stale.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index 3c86b8e8549da6..a26691ea454538 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -14,7 +14,7 @@ jobs:
     steps:
       - uses: actions/stale@v9
         with:
-          exempt-milestones: true
+          exempt-all-milestones: true
 
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'

From a312a102aa05cd5759912de612fc0adb0ae25c19 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 1 Jul 2024 00:46:21 +0800
Subject: [PATCH 082/247] ui: remove tests/playsound.cc (#32870)

remove playsound.cc
---
 selfdrive/ui/tests/.gitignore   |  2 --
 selfdrive/ui/tests/playsound.cc | 30 ------------------------------
 2 files changed, 32 deletions(-)
 delete mode 100644 selfdrive/ui/tests/playsound.cc

diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 6c624b66d3ecc8..8e0147f9883243 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,6 +1,4 @@
 test
-playsound
-test_sound
 test_translations
 ui_snapshot
 test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/playsound.cc b/selfdrive/ui/tests/playsound.cc
deleted file mode 100644
index 6487d0479038c2..00000000000000
--- a/selfdrive/ui/tests/playsound.cc
+++ /dev/null
@@ -1,30 +0,0 @@
-#include <QApplication>
-#include <QSoundEffect>
-#include <QTimer>
-#include <QDebug>
-
-int main(int argc, char **argv) {
-
-  QApplication a(argc, argv);
-
-  QTimer::singleShot(0, [=]{
-    QSoundEffect s;
-    const char *vol = getenv("VOLUME");
-    s.setVolume(vol ? atof(vol) : 1.0);
-    for (int i = 1; i < argc; i++) {
-      QString fn = argv[i];
-      qDebug() << "playing" << fn;
-
-      QEventLoop loop;
-      s.setSource(QUrl::fromLocalFile(fn));
-      QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-      s.play();
-      QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-    }
-    QCoreApplication::exit();
-  });
-
-  return a.exec();
-}

From 25b9a338529858cab0e5adf47c62afe2be2fd695 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jul 2024 11:38:35 -0700
Subject: [PATCH 083/247] [bot] Fingerprints: add missing FW versions from new
 users (#32883)

Export fingerprints
---
 selfdrive/car/chrysler/fingerprints.py | 1 +
 selfdrive/car/toyota/fingerprints.py   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 018505a9172f4e..1bc6a32431e82e 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -315,6 +315,7 @@
       b'68284456AI ',
       b'68284477AF ',
       b'68325564AH ',
+      b'68325564AI ',
       b'68325565AH ',
       b'68325565AI ',
       b'68325618AD ',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 50ff376321c523..5e746d13115912 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1493,6 +1493,7 @@
       b'\x01896630EA6300\x00\x00\x00\x00',
       b'\x018966348R1300\x00\x00\x00\x00',
       b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348R9300\x00\x00\x00\x00',
       b'\x018966348W1300\x00\x00\x00\x00',
       b'\x018966348W2300\x00\x00\x00\x00',
     ],

From 01c2174d5968266b87f1d1fecefce5affaeaa624 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 1 Jul 2024 13:59:44 -0700
Subject: [PATCH 084/247] Notre Dame model (#32884)

* New model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700

* Bump refs
---
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index c0f8b16fb1e6ca..2e1a60a23eb453 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
-size 51452435
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 995e024de06aff..0b253017f58948 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-b0d295609abb0f84c34ffb104c1b1a0bb855352f
\ No newline at end of file
+01e8432830805165527d1dbadd5f009d19430b39
\ No newline at end of file

From 3e41b1b287c956ed17ab065cf4391aae05333e52 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jul 2024 22:43:48 -0700
Subject: [PATCH 085/247] LogReader: show total segment count in missing rlog
 prompt

---
 tools/lib/logreader.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index f6932c029aeb43..6ad77bf823a5d1 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -98,10 +98,10 @@ def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool,
   missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
   if missing_rlogs != 0:
     if interactive:
-      if input(f"{missing_rlogs} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning(f"{missing_rlogs} rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]

From c95b58401afe475b07634041e71ede63b9f3875f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Jul 2024 13:27:45 -0700
Subject: [PATCH 086/247] controlsd: no mutable carParams (#32381)

* no as builder

* fix car int test

* more
---
 selfdrive/car/tests/test_car_interfaces.py      | 1 +
 selfdrive/controls/controlsd.py                 | 3 +--
 selfdrive/controls/lib/latcontrol_torque.py     | 2 +-
 selfdrive/controls/lib/tests/test_latcontrol.py | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 742bafc76a0ce3..bb97ac8a9ad7e0 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -62,6 +62,7 @@ def test_car_interfaces(self, car_name, data):
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f147766c91ed73..416a9aa8c5979f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -65,8 +65,7 @@ def __init__(self, CI=None):
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
       with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        # TODO: this shouldn't need to be a builder
-        self.CP = msg.as_builder()
+        self.CP = msg
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 34b0d471241750..decff2ec054283 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -25,7 +25,7 @@
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.torque_params = CP.lateralTuning.torque
+    self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 81411edec1c3d6..e12da6ed97f20e 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -21,7 +21,7 @@ def test_saturation(self, car_name, controller):
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
-    controller = controller(CP, CI)
+    controller = controller(CP.as_reader(), CI)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30

From 7de2aac3c93caa20213894e574f06bd45f789335 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Jul 2024 22:22:56 -0700
Subject: [PATCH 087/247] Ford: use more reliable gear message (#32886)

* todo

* nope

* not this one

* yep

* passes

* clean up

* not used!

* oop

* update refs
---
 selfdrive/car/ford/carstate.py           | 6 +++---
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 78f48ec5c46ff6..d7130681d4e24b 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -15,7 +15,7 @@ def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
     self.vehicle_sensors_valid = False
 
@@ -69,7 +69,7 @@ def update(self, cp, cp_cam):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
+      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -139,7 +139,7 @@ def get_can_parser(CP):
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [
-        ("Gear_Shift_by_Wire_FD1", 10),
+        ("PowertrainData_10", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
       messages += [
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 96161a42de6f00..1635012f3e4eb3 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8737e368e17f859291164286feb4246e00c0b4a5
+f6ff3601bd0496e78d8bc3b019d58bb7739f096b
\ No newline at end of file

From 0fecfd6c4578d17070db91bfa4920888258b987b Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Wed, 3 Jul 2024 15:27:29 -0700
Subject: [PATCH 088/247] CI: test the tests (#32869)

---
 .github/workflows/ci_weekly_report.yaml | 123 ++++++++++++++++++++++++
 .github/workflows/ci_weekly_run.yaml    |  21 ++++
 .github/workflows/docs.yaml             |   9 +-
 .github/workflows/selfdrive_tests.yaml  |  12 ++-
 .github/workflows/tools_tests.yaml      |   9 +-
 selfdrive/ui/tests/test_ui/run.py       |   2 +-
 6 files changed, 168 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/ci_weekly_report.yaml
 create mode 100644 .github/workflows/ci_weekly_run.yaml

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
new file mode 100644
index 00000000000000..c5c98b46b552f6
--- /dev/null
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -0,0 +1,123 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  setup:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+    steps:
+      - id: ci_runs_setup
+        run: |
+          CI_RUNS=${{ inputs.ci_runs || '50' }}
+          mylist="value=["
+
+          for i in $(seq 1 $CI_RUNS);
+          do
+              if [ $i != $CI_RUNS ]; then
+                  mylist+="\"$i\", "
+              else
+                  mylist+="\"$i\"]"
+              fi
+          done
+
+          echo "$mylist" >> $GITHUB_OUTPUT
+          echo "Number of CI runs for report: $CI_RUNS"
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix:
+        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.value }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              const jobName = job.name.split('/')[2].trim();
+              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push(job.html_url); break;
+                case "failure":
+                  report[jobName].failures.push(job.html_url); break;
+                case "cancelled":
+                  report[jobName].cancelled.push(job.html_url); break;
+              }
+            });
+            return JSON.stringify(report);
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          echo $JOB_RESULTS > job_results.json
+          generate_html_table() {
+            echo "<table>"
+            echo "<thead>"
+            echo "  <tr>"
+            echo "    <th>Job</th>"
+            echo "    <th>Succeeded ✅</th>"
+            echo "    <th>Failed ❌</th>"
+            echo "    <th>Cancelled (timed out) ⏰</th>"
+            echo "  </tr>"
+            echo "</thead>"
+            jq -r '
+              "<tbody>",
+              keys[] as $job |
+              "<tr>",
+              "  <td>\($job)</td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].successes | length))</summary>",
+              "      \(.[$job].successes[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].failures | length))</summary>",
+              "      \(.[$job].failures[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].cancelled | length))</summary>",
+              "      \(.[$job].cancelled[])<br>",
+              "    </details>",
+              "  </td>",
+              "</tr>"
+            ' job_results.json
+            echo  "</tbody>"
+            echo  "</table>"
+          }
+          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
+          generate_html_table >> $GITHUB_STEP_SUMMARY
+
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
new file mode 100644
index 00000000000000..c3ce8c42da861e
--- /dev/null
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -0,0 +1,21 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index a32989f7d08852..64287290558a57 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -5,9 +5,14 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index c2b321525b73fa..db763923b90d47 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -6,9 +6,15 @@ on:
       - master
   pull_request:
   workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -320,5 +326,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report
+          name: report-${{ inputs.run_number }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index a04d5e6b6b8c67..b64963fb60b66c 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -5,9 +5,14 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 1d33c103a4d02b..98a600eebca05c 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -116,7 +116,7 @@ def setup_onroad_sidebar(click, pm: PubMaster):
 
 TEST_DIR = pathlib.Path(__file__).parent
 
-TEST_OUTPUT_DIR = TEST_DIR / "report"
+TEST_OUTPUT_DIR = TEST_DIR / "report_1"
 SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
 
 

From 632c484dd5e1f18a6c63b7505bd773d448b86661 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 4 Jul 2024 06:27:54 +0800
Subject: [PATCH 089/247] replay: handle route not found error with user
 warning message (#32895)

handle 404
---
 tools/cabana/streams/replaystream.cc | 3 +++
 tools/replay/route.cc                | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index bdb9ebb014f032..302a25696e2541 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -73,6 +73,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
                           tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+    } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
+      QMessageBox::warning(nullptr, tr("Route Not Found"),
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
     } else {
       QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
     }
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 18c962abd5cbfa..716b02961e2c40 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -39,6 +39,7 @@ RouteIdentifier Route::parseRoute(const QString &str) {
 }
 
 bool Route::load() {
+  err_ = RouteLoadError::None;
   if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
     rInfo("invalid route format");
     return false;
@@ -76,6 +77,10 @@ bool Route::loadFromServer(int retries) {
       rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
       err_ = RouteLoadError::AccessDenied;
       return false;
+    } else if (err == QNetworkReply::ContentNotFoundError) {
+      rWarning("The specified route could not be found on the server.");
+      err_ = RouteLoadError::FileNotFound;
+      return false;
     } else {
       err_ = RouteLoadError::NetworkError;
     }

From a8299ef800a569e22abab9eac68af70618311ea7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 4 Jul 2024 06:32:15 +0800
Subject: [PATCH 090/247] cabana: improve signal view (#32893)

improve signal view
---
 tools/cabana/signalview.cc | 150 ++++++++++++++++++-------------------
 tools/cabana/signalview.h  |   9 +--
 2 files changed, 75 insertions(+), 84 deletions(-)

diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 7eb647b65036b4..8288c801b5960c 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -33,13 +33,17 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
 }
 
-void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
-  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
-  parent_item->children.insert(pos, item);
+void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
+  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
+  root_item->children.insert(pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
+    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    parent_item->children.push_back(item);
+    if (item->type == Item::ExtraInfo) {
+      parent_item = item;
+    }
   }
 }
 
@@ -75,12 +79,7 @@ SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
 int SignalModel::rowCount(const QModelIndex &parent) const {
   if (parent.isValid() && parent.column() > 0) return 0;
 
-  auto parent_item = getItem(parent);
-  int row_count = parent_item->children.size();
-  if (parent_item->type == Item::Sig && !parent_item->extra_expanded) {
-    row_count -= (Item::Desc - Item::ExtraInfo);
-  }
-  return row_count;
+  return getItem(parent)->children.size();
 }
 
 Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
@@ -88,7 +87,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
 
   auto item = getItem(index);
   Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled;
-  if (index.column() == 1  && item->type != Item::Sig && item->type != Item::ExtraInfo) {
+  if (index.column() == 1  && item->children.empty()) {
     flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable;
   }
   if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) {
@@ -153,8 +152,6 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     } else if (role == Qt::CheckStateRole && index.column() == 1) {
       if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
       if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
-    } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
-      return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
     } else if (role == Qt::ToolTipRole && item->type == Item::Sig) {
       return (index.column() == 0) ? signalToolTip(item->sig) : QString();
     }
@@ -189,21 +186,6 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   return ret;
 }
 
-void SignalModel::showExtraInfo(const QModelIndex &index) {
-  auto item = getItem(index);
-  if (item->type == Item::ExtraInfo) {
-    if (!item->parent->extra_expanded) {
-      item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endInsertRows();
-    } else {
-      item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endRemoveRows();
-    }
-  }
-}
-
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
@@ -283,13 +265,9 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo
       text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
       spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
     }
-    auto it = width_cache.find(text);
-    if (it == width_cache.end()) {
-      it = width_cache.insert(text, option.fontMetrics.width(text));
-    }
-    width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
+    width = std::min<int>(option.widget->size().width() / 3.0, option.fontMetrics.width(text) + spacing);
   }
-  return {width, option.fontMetrics.height()};
+  return {width, option.fontMetrics.height() + option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
 }
 
 void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -305,51 +283,55 @@ void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptio
 }
 
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  auto item = (SignalModel::Item *)index.internalPointer();
-  if (item && item->type == SignalModel::Item::Sig) {
-    painter->setRenderHint(QPainter::Antialiasing);
-    if (option.state & QStyle::State_Selected) {
-      painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
-    }
+  const int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  const int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+  auto item = static_cast<SignalModel::Item*>(index.internalPointer());
+
+  QRect rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  painter->setRenderHint(QPainter::Antialiasing);
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
 
-    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
-    QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
-    if (index.column() == 0) {
+  if (index.column() == 0) {
+    if (item->type == SignalModel::Item::Sig) {
       // color label
       QPainterPath path;
-      QRect icon_rect{r.x(), r.y(), color_label_width, r.height()};
+      QRect icon_rect{rect.x(), rect.y(), color_label_width, rect.height()};
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
       painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
-      r.setLeft(icon_rect.right() + h_margin * 2);
+      rect.setLeft(icon_rect.right() + h_margin * 2);
       // multiplexer indicator
       if (item->sig->type != cabana::Signal::Type::Normal) {
         QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
-        QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()};
+        QRect indicator_rect{rect.x(), rect.y(), option.fontMetrics.width(indicator), rect.height()};
         painter->setBrush(Qt::gray);
         painter->setPen(Qt::NoPen);
         painter->drawRoundedRect(indicator_rect, 3, 3);
         painter->setPen(Qt::white);
         painter->drawText(indicator_rect, Qt::AlignCenter, indicator);
-        r.setLeft(indicator_rect.right() + h_margin * 2);
+        rect.setLeft(indicator_rect.right() + h_margin * 2);
       }
+    } else {
+      rect.setLeft(option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + h_margin * 3);
+    }
 
-      // name
-      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
-      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      painter->setFont(option.font);
-      painter->drawText(r, option.displayAlignment, text);
-    } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) {
-      // sparkline
+    // name
+    auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
+    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+    painter->setFont(option.font);
+    painter->drawText(rect, option.displayAlignment, text);
+  } else if (index.column() == 1) {
+    if (!item->sparkline.pixmap.isNull()) {
       QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
-      painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
+      painter->drawPixmap(QRect(rect.topLeft(), sparkline_size), item->sparkline.pixmap);
       // min-max value
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
+      rect.adjust(sparkline_size.width() + 1, 0, 0, 0);
       int value_adjust = 10;
       if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
         painter->drawLine(rect.topLeft(), rect.bottomLeft());
@@ -361,7 +343,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
-      } else if (!item->sparkline.isEmpty()  && item->sig->type == cabana::Signal::Type::Multiplexed) {
+      } else if (!item->sparkline.isEmpty() && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
@@ -373,9 +355,9 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       rect.adjust(value_adjust, 0, -button_size.width(), 0);
       auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
       painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text);
+    } else {
+      QStyledItemDelegate::paint(painter, option, index);
     }
-  } else {
-    QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
@@ -512,7 +494,6 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
-  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -549,11 +530,9 @@ void SignalView::rowsChanged() {
 
 void SignalView::rowClicked(const QModelIndex &index) {
   auto item = model->getItem(index);
-  if (item->type == SignalModel::Item::Sig) {
-    auto sig_index = model->index(index.row(), 0, index.parent());
-    tree->setExpanded(sig_index, !tree->isExpanded(sig_index));
-  } else if (item->type == SignalModel::Item::ExtraInfo) {
-    model->showExtraInfo(index);
+  if (item->type == SignalModel::Item::Sig || item->type == SignalModel::Item::ExtraInfo) {
+    auto expand_index = model->index(index.row(), 0, index.parent());
+    tree->setExpanded(expand_index, !tree->isExpanded(expand_index));
   }
 }
 
@@ -614,39 +593,54 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
     updateState();
 }
 
+std::pair<QModelIndex, QModelIndex> SignalView::visibleSignalRange() {
+  auto topLevelIndex = [](QModelIndex index) {
+    while (index.isValid() && index.parent().isValid()) index = index.parent();
+    return index;
+  };
+
+  const auto viewport_rect = tree->viewport()->rect();
+  QModelIndex first_visible = tree->indexAt(viewport_rect.topLeft());
+  if (first_visible.parent().isValid()) {
+    first_visible = topLevelIndex(first_visible);
+    first_visible = first_visible.siblingAtRow(first_visible.row() + 1);
+  }
+
+  QModelIndex last_visible = topLevelIndex(tree->indexAt(viewport_rect.bottomRight()));
+  if (!last_visible.isValid()) {
+    last_visible = model->index(model->rowCount() - 1, 0);
+  }
+  return {first_visible, last_visible};
+}
+
 void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
+  int max_value_width = 0;
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
       item->sig_val = item->sig->formatValue(value);
+      max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
     }
-    max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 
-  QModelIndex top = tree->indexAt(QPoint(0, 0));
-  if (top.isValid()) {
-    // update visible sparkline
-    int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
-    int last_visible_row = model->rowCount() - 1;
-    QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
-    if (bottom.isValid()) {
-      last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
-    }
-
+  auto [first_visible, last_visible] = visibleSignalRange();
+  if (first_visible.isValid() && last_visible.isValid()) {
     const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
     int available_width = value_column_width - delegate->button_size.width();
     int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
     QSize size(available_width - value_width,
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
+
     QFutureSynchronizer<void> synchronizer;
-    for (int i = first_visible_row; i <= last_visible_row; ++i) {
+    for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
       synchronizer.addFuture(QtConcurrent::run(
           &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
     }
+    synchronizer.waitForFinished();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 30978f928cfc8e..6320b9b62154eb 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -2,6 +2,7 @@
 
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QAbstractItemModel>
 #include <QLabel>
@@ -29,7 +30,6 @@ class SignalModel : public QAbstractItemModel {
     const cabana::Signal *sig = nullptr;
     QString title;
     bool highlight = false;
-    bool extra_expanded = false;
     QString sig_val = "-";
     Sparkline sparkline;
   };
@@ -47,10 +47,9 @@ class SignalModel : public QAbstractItemModel {
   bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
   Item *getItem(const QModelIndex &index) const;
   int signalRow(const cabana::Signal *sig) const;
-  void showExtraInfo(const QModelIndex &index);
 
 private:
-  void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig);
+  void insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig);
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void handleSignalRemoved(const cabana::Signal *sig);
@@ -92,7 +91,6 @@ class SignalItemDelegate : public QStyledItemDelegate {
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;
-  mutable QHash<QString, int> width_cache;
 };
 
 class SignalView : public QFrame {
@@ -119,6 +117,7 @@ class SignalView : public QFrame {
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void updateState(const std::set<MessageId> *msgs = nullptr);
+  std::pair<QModelIndex, QModelIndex> visibleSignalRange();
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -136,7 +135,6 @@ class SignalView : public QFrame {
       QTreeView::leaveEvent(event);
     }
   };
-  int max_value_width = 0;
   int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
@@ -145,5 +143,4 @@ class SignalView : public QFrame {
   ChartsWidget *charts;
   QLabel *signal_count_lb;
   SignalItemDelegate *delegate;
-  friend SignalItemDelegate;
 };

From 9cec7bbfb3bfaa032041b9b8d960f1b61d09f8f4 Mon Sep 17 00:00:00 2001
From: Jimmy <9859727+Quantizr@users.noreply.github.com>
Date: Wed, 3 Jul 2024 17:22:45 -0700
Subject: [PATCH 091/247] fix bug in modelV2 service which was triggering
 test_loggerd failure (#32892)

* fix services bug

* add nonzero decimation assert
---
 cereal/messaging/tests/test_services.py | 1 +
 cereal/services.py                      | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
index 0fac379e439994..ec96c90bc23323 100755
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -15,6 +15,7 @@ class TestServices(unittest.TestCase):
   def test_services(self, s):
     service = SERVICE_LIST[s]
     self.assertTrue(service.frequency <= 104)
+    self.assertTrue(service.decimation != 0)
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
diff --git a/cereal/services.py b/cereal/services.py
index 5329719c2a989a..f1e1935c5408f6 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -61,7 +61,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., 0),
+  "modelV2": (True, 20.),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),

From c52126cd6c095fc1a6a2e37f6426ca67f03a0676 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 3 Jul 2024 19:31:02 -0700
Subject: [PATCH 092/247] fix package_updates workflow (#32903)

pip3
---
 .github/workflows/repo-maintenance.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 26b5e09f48961e..f03f9670c4fb2e 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -43,7 +43,8 @@ jobs:
     - uses: actions/checkout@v4
     - name: uv lock
       run: |
-        pip install uv
+        python3 -m ensurepip --upgrade
+        pip3 install uv
         uv lock
     - name: pre-commit autoupdate
       run: |

From 8e598a17fbf9babb0b45a8e952e274471a8bd91c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 3 Jul 2024 19:38:42 -0700
Subject: [PATCH 093/247] repo-maintenance: force update for python packages
 (#32905)

force update
---
 .github/workflows/repo-maintenance.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index f03f9670c4fb2e..0d855e83f1f3fe 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,7 +41,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: uv lock
+    - name: uv lock --upgrade
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

From ebf4cf4ad02372828083395080af618fcf00bcc6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 4 Jul 2024 02:46:13 +0000
Subject: [PATCH 094/247] Update repo-maintenance.yaml

---
 .github/workflows/repo-maintenance.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0d855e83f1f3fe..cf35804492bd43 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,11 +41,11 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: uv lock --upgrade
+    - name: uv lock
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
-        uv lock
+        uv lock --upgrade
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'

From 3dc08fb679a3aac4a3ea89e47d8ba2eed7d38e2d Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Fri, 5 Jul 2024 10:26:44 -0700
Subject: [PATCH 095/247] [bot] Update Python packages and pre-commit hooks
 (#32906)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |   2 +-
 uv.lock                 | 173 +++++++++++++++++++++-------------------
 2 files changed, 93 insertions(+), 82 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 297b2d720cfe62..676fc514da74cf 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -93,6 +93,6 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.5
+    rev: 0.28.6
     hooks:
     -   id: check-github-workflows
diff --git a/uv.lock b/uv.lock
index ec5267d0994a5f..6433b535241071 100644
--- a/uv.lock
+++ b/uv.lock
@@ -360,11 +360,11 @@ wheels = [
 
 [[distribution]]
 name = "certifi"
-version = "2024.6.2"
+version = "2024.7.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/07/b3/e02f4f397c81077ffc52a538e0aec464016f1860c472ed33bd2a1d220cc5/certifi-2024.6.2.tar.gz", hash = "sha256:3cd43f1c6fa7dedc5899d69d3ad0398fd018ad1a17fba83ddaf78aa46c747516", size = 165550 }
+sdist = { url = "https://files.pythonhosted.org/packages/c2/02/a95f2b11e207f68bc64d7aae9666fed2e2b3f307748d5123dffb72a1bbea/certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b", size = 164065 }
 wheels = [
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 [[distribution]]
@@ -6300,11 +6311,11 @@ wheels = [
 
 [[distribution]]
 name = "setuptools"
-version = "70.1.1"
+version = "70.2.0"
 source = { registry = "https://pypi.org/simple" }
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+sdist = { url = "https://files.pythonhosted.org/packages/8d/e6/2fc95aec377988ff3ca882aa58d4f6ab35ff59a12b1611a9fe3075eb3019/setuptools-70.2.0.tar.gz", hash = "sha256:bd63e505105011b25c3c11f753f7e3b8465ea739efddaccef8f0efac2137bac1", size = 2332711 }
 wheels = [
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 [[distribution]]

From edd042f308b74ec0e9f16462de1f869f20b6a1fd Mon Sep 17 00:00:00 2001
From: "Xida Ren (Cedar)" <cedar.ren@gmail.com>
Date: Fri, 5 Jul 2024 20:10:39 -0400
Subject: [PATCH 096/247] Add `git lfs pull` to workflow.md (#32914)

---
 docs/WORKFLOW.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 1babe3c94a568d..10cf244fd6cc32 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -9,6 +9,7 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
 ```bash
 # get the latest stuff
 git pull
+git lfs pull
 git submodule update --init --recursive
 
 # update dependencies

From 635b15a5730d51c538f94191ed927f8976ee8a40 Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Fri, 5 Jul 2024 19:47:59 -0700
Subject: [PATCH 097/247] Post UI screenshots in PR comments (#32887)

* add PR comment with screenshots on ui changes

* fix pr comment if statements

* use default shallow checkout

* use commaai's ci-artifacts

* use my ci-artifacts

* use tj-actions/changed-files

* clean up

* use comma repos

* make ci-artifacts branch openpilot/pr-#

* remove redundent path
---
 .github/workflows/selfdrive_tests.yaml | 50 ++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index db763923b90d47..3359f2a15e4007 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -328,3 +328,53 @@ jobs:
         with:
           name: report-${{ inputs.run_number }}
           path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+      - name: Get changes to selfdrive/ui
+        if: ${{ github.event_name == 'pull_request' }}
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+         files: |
+            selfdrive/ui/**
+      - name: Checkout ci-artifacts
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+      - name: Push Screenshots
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          git add .
+          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
+          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
+      - name: Comment Screenshots on PR
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.pull_request.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 155546a6683c6176e4916b6af9a2e1f160e3a02d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 5 Jul 2024 20:07:56 -0700
Subject: [PATCH 098/247] bump opendbc

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 776bca184bc997..de39b143a31cd2 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 776bca184bc997b587afb20df71bc56a4890c4d8
+Subproject commit de39b143a31cd29b4df4c0cbba71316c1bc8e71b

From 4ef757c49fff362242bd212d46c1656966a6b3ba Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 6 Jul 2024 08:51:36 -0700
Subject: [PATCH 099/247] remove old docs (#32917)

---
 .github/workflows/docs.yaml |   1 +
 docs/Makefile               |  53 -------------
 docs/_static/favicon.ico    | Bin 15086 -> 0 bytes
 docs/_static/logo.png       |   3 -
 docs/_static/robots.txt     |   2 -
 docs/c_docs.rst             |  87 ---------------------
 docs/conf.py                | 147 ------------------------------------
 docs/index.md               |  42 -----------
 docs/overview.rst           |  72 ------------------
 pyproject.toml              |   3 -
 uv.lock                     |  41 ----------
 11 files changed, 1 insertion(+), 450 deletions(-)
 delete mode 100644 docs/Makefile
 delete mode 100644 docs/_static/favicon.ico
 delete mode 100644 docs/_static/logo.png
 delete mode 100644 docs/_static/robots.txt
 delete mode 100644 docs/c_docs.rst
 delete mode 100644 docs/conf.py
 delete mode 100644 docs/index.md
 delete mode 100644 docs/overview.rst

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 64287290558a57..908f06e034a75c 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -27,6 +27,7 @@ jobs:
     name: build docs
     runs-on: ubuntu-latest
     timeout-minutes: 45
+    if: false  # TODO: replace this with the new docs
     steps:
     - uses: actions/checkout@v4
       with:
diff --git a/docs/Makefile b/docs/Makefile
deleted file mode 100644
index 09103e206ec444..00000000000000
--- a/docs/Makefile
+++ /dev/null
@@ -1,53 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-OPENPILOT_ROOT = `git rev-parse --show-toplevel`
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
-SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
-DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
-BUILDDIR      = "$(OPENPILOT_ROOT)/build"
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
-
-clean:
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-	mkdir -p "$(DOCSBUILDDIR)"
-
-	@echo "Copying docs & config to build folder..."
-	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
-	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
-			-not -path "*/.*" \
-			-not -path "./build/*" \
-			-not -path "./docs/*" \
-			-not -path "./xx/*" \
-			-exec cp --parents "{}" ./build/docs/ \;
-
-	@echo "Building rst files..."
-	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../rednose_repo ../notebooks ../panda_jungle \
-		../third_party \
-		../panda/examples \
-		../scripts \
-		../selfdrive/modeld \
-		../selfdrive/debug \
-		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
-
-	@echo "Building html files..."
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico
deleted file mode 100644
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diff --git a/docs/_static/logo.png b/docs/_static/logo.png
deleted file mode 100644
index 0e7577dae1d4c4..00000000000000
--- a/docs/_static/logo.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
-size 1122
diff --git a/docs/_static/robots.txt b/docs/_static/robots.txt
deleted file mode 100644
index 3bcd24fb5d5f9d..00000000000000
--- a/docs/_static/robots.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-User-agent: *
-Sitemap: https://docs.comma.ai/sitemap.xml
\ No newline at end of file
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
deleted file mode 100644
index 0d65423c0854ba..00000000000000
--- a/docs/c_docs.rst
+++ /dev/null
@@ -1,87 +0,0 @@
-openpilot
-==========
-
-
-opendbc
-------
-.. autodoxygenindex::
-   :project: opendbc_can
-
-
-cereal
-------
-
-messaging
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq
-
-visionipc
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq_visionipc
-
-
-selfdrive
----------
-
-camerad
-^^^^^^^
-.. autodoxygenindex::
-   :project: system_camerad_cameras
-
-locationd
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_locationd
-
-ui
-^^
-
-.. autodoxygenindex::
-   :project: selfdrive_ui
-
-replay
-""""""
-.. autodoxygenindex::
-   :project: tools_replay
-
-qt
-""
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_offroad
-
-proclogd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_proclogd
-
-modeld
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_modeld_transforms
-.. autodoxygenindex::
-   :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_runners
-
-common
-^^^^^^
-.. autodoxygenindex::
-   :project: common
-
-sensorsd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_sensord_sensors
-
-pandad
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_pandad
-
-
-rednose
--------
-.. autodoxygenindex::
-   :project: rednose_repo_rednose_helpers
diff --git a/docs/conf.py b/docs/conf.py
deleted file mode 100644
index 9a8d6466970777..00000000000000
--- a/docs/conf.py
+++ /dev/null
@@ -1,147 +0,0 @@
-# type: ignore
-
-# Configuration file for the Sphinx documentation builder.
-#
-# This file only contains a selection of the most common options. For a full
-# list see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-from os.path import exists
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import get_version
-
-sys.path.insert(0, os.path.abspath('.'))
-sys.path.insert(0, os.path.abspath('..'))
-
-VERSION = get_version()
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'openpilot docs'
-copyright = '2021, comma.ai' # noqa: A001
-author = 'comma.ai'
-version = VERSION
-release = VERSION
-language = 'en'
-
-
-# -- General configuration ---------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-  'sphinx.ext.autodoc',   # Auto-generate docs
-  'sphinx.ext.viewcode',  # Add view code link to modules
-  'sphinx_rtd_theme',     # Read The Docs theme
-  'myst_parser',          # Markdown parsing
-  'breathe',              # Doxygen C/C++ integration
-  'sphinx_sitemap',       # sitemap generation for SEO
-]
-
-myst_html_meta = {
-  "description": "openpilot docs",
-  "keywords": "op, openpilot, docs, documentation",
-  "robots": "all,follow",
-  "googlebot": "index,follow,snippet,archive",
-  "property=og:locale": "en_US",
-  "property=og:site_name": "docs.comma.ai",
-  "property=og:url": "https://docs.comma.ai",
-  "property=og:title": "openpilot Documentation",
-  "property=og:type": "website",
-  "property=og:image:type": "image/jpeg",
-  "property=og:image:width": "400",
-  "property=og:image": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:description": "openpilot Documentation",
-  "property=twitter:card": "summary_large_image",
-  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
-  "property=twitter:title": "openpilot Documentation",
-  "property=twitter:description": "openpilot Documentation"
-}
-
-html_baseurl = 'https://docs.comma.ai/'
-sitemap_filename = "sitemap.xml"
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = []
-
-
-# -- c docs configuration ---------------------------------------------------
-
-# Breathe Configuration
-# breathe_default_project = "c_docs"
-breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
-breathe_separate_member_pages = True
-breathe_default_members = ('members', 'private-members', 'undoc-members')
-breathe_domain_by_extension = {
-  "h": "cc",
-}
-breathe_implementation_filename_extensions = ['.c', '.cc']
-breathe_doxygen_config_options = {}
-breathe_projects_source = {}
-
-# only document files that have accompanying .cc files next to them
-print("searching for c_docs...")
-for root, _, files in os.walk(BASEDIR):
-  found = False
-  breath_src = {}
-  breathe_srcs_list = []
-
-  for file in files:
-    ccFile = os.path.join(root, file)[:-2] + ".cc"
-
-    if file.endswith(".h") and exists(ccFile):
-      f = os.path.join(root, file)
-
-      parent_dir_abs = os.path.dirname(f)
-      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
-      parent_project = parent_dir.replace('/', '_')
-      print(f"\tFOUND: {f} in {parent_project}")
-
-      breathe_srcs_list.append(file)
-      found = True
-
-    if found:
-      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
-      breathe_projects_source.update(breath_src)
-
-print(f"breathe_projects_source: {breathe_projects_source.keys()}")
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = 'sphinx_rtd_theme'
-html_show_copyright = True
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-html_logo = '_static/logo.png'
-html_favicon = '_static/favicon.ico'
-html_theme_options = {
-  'logo_only': False,
-  'display_version': True,
-  'vcs_pageview_mode': 'blob',
-  'style_nav_header_background': '#000000',
-}
-html_extra_path = ['_static']
diff --git a/docs/index.md b/docs/index.md
deleted file mode 100644
index 0fb2617a5b74ab..00000000000000
--- a/docs/index.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# openpilot Documentation
-
-```{include} README.md
-```
-
-```{toctree}
-:caption: 'General'
-:maxdepth: 4
-
-CARS.md
-CONTRIBUTING.md
-INTEGRATION.md
-LIMITATIONS.md
-SAFETY.md
-```
-
-```{toctree}
-:caption: 'Overview'
-:maxdepth: 2
-
-overview.rst
-```
-
-## API Documentation
-
-- {ref}`genindex`
-- {ref}`modindex`
-- {ref}`search`
-
-```{toctree}
-:caption: 'Python API'
-:maxdepth: 2
-
-modules.rst
-```
-
-```{toctree}
-:caption: 'C/C++ API'
-:maxdepth: 4
-
-c_docs.rst
-```
\ No newline at end of file
diff --git a/docs/overview.rst b/docs/overview.rst
deleted file mode 100644
index 8c552077f38fc5..00000000000000
--- a/docs/overview.rst
+++ /dev/null
@@ -1,72 +0,0 @@
-openpilot
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   Debugging <selfdrive/debug/README.md>
-   system/loggerd/README.md
-   Driver Monitoring <selfdrive/monitoring/README.md>
-   Process Replay <selfdrive/test/process_replay/README.md>
-
-cereal
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   cereal/README.md
-   cereal/messaging/msgq.md
-
-models
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   models/README.md
-
-opendbc
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   opendbc/README.md
-
-panda
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   panda/README.md
-   panda/UPDATING.md
-   panda/board/README.md
-   panda/drivers/linux/README.md
-   panda/drivers/windows/README.md
-
-
-rednose
-=========
-.. toctree::
-   :maxdepth: 4
-
-   rednose_repo/README.md
-
-
-tools
-=========
-.. toctree::
-   :maxdepth: 4
-
-   tools/CTF.md
-   tools/joystick/README.md
-   tools/lib/README.md
-   tools/plotjuggler/README.md
-   tools/replay/README.md
-   tools/serial/README.md
-   Simulator <tools/sim/README.md>
-   tools/ssh/README.md
-   Webcam <tools/webcam/README.md>
-   tools/cabana/README.md
diff --git a/pyproject.toml b/pyproject.toml
index fc2356645bc931..4b20c84e9f8111 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -66,9 +66,6 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "sphinx",
-  "sphinx-rtd-theme",
-  "sphinx-sitemap"
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 6433b535241071..6a9f155df79797 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2286,9 +2286,6 @@ dev = [
 ]
 docs = [
     { name = "jinja2" },
-    { name = "sphinx" },
-    { name = "sphinx-rtd-theme" },
-    { name = "sphinx-sitemap" },
 ]
 testing = [
     { name = "coverage" },
@@ -6447,32 +6444,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b4/fa/130c32ed94cf270e3d0b9ded16fb7b2c8fea86fa7263c29a696a30c1dde7/sphinx-7.3.7-py3-none-any.whl", hash = "sha256:413f75440be4cacf328f580b4274ada4565fb2187d696a84970c23f77b64d8c3", size = 3335650 },
 ]
 
-[[distribution]]
-name = "sphinx-rtd-theme"
-version = "2.0.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fe/33/2a35a9cdbfda9086bda11457bcc872173ab3565b16b6d7f6b3efaa6dc3d6/sphinx_rtd_theme-2.0.0.tar.gz", hash = "sha256:bd5d7b80622406762073a04ef8fadc5f9151261563d47027de09910ce03afe6b", size = 2785005 }
-dependencies = [
-    { name = "docutils" },
-    { name = "sphinx" },
-    { name = "sphinxcontrib-jquery" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ea/46/00fda84467815c29951a9c91e3ae7503c409ddad04373e7cfc78daad4300/sphinx_rtd_theme-2.0.0-py2.py3-none-any.whl", hash = "sha256:ec93d0856dc280cf3aee9a4c9807c60e027c7f7b461b77aeffed682e68f0e586", size = 2824721 },
-]
-
-[[distribution]]
-name = "sphinx-sitemap"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/42/ed/96cc112b671e06df01c8306c25ce3331ccfece0d30235e32eb039afc8094/sphinx_sitemap-2.6.0.tar.gz", hash = "sha256:5e0c66b9f2e371ede80c659866a9eaad337d46ab02802f9c7e5f7bc5893c28d2", size = 6042 }
-dependencies = [
-    { name = "sphinx" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/d4/dffb4da380be24fd390d284634735d6fba560980014050e52569c04d215b/sphinx_sitemap-2.6.0-py3-none-any.whl", hash = "sha256:7478e417d141f99c9af27ccd635f44c03a471a08b20e778a0f9daef7ace1d30b", size = 5632 },
-]
-
 [[distribution]]
 name = "sphinxcontrib-applehelp"
 version = "1.0.8"
@@ -6500,18 +6471,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c2/e9/74c4cda5b409af3222fda38f0774e616011bc935f639dbc0da5ca2d1be7d/sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04", size = 99217 },
 ]
 
-[[distribution]]
-name = "sphinxcontrib-jquery"
-version = "4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/de/f3/aa67467e051df70a6330fe7770894b3e4f09436dea6881ae0b4f3d87cad8/sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a", size = 122331 }
-dependencies = [
-    { name = "sphinx" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/76/85/749bd22d1a68db7291c89e2ebca53f4306c3f205853cf31e9de279034c3c/sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae", size = 121104 },
-]
-
 [[distribution]]
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"

From 4445fa31f51d078a0f1bff9011173dcf5c0242dc Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sun, 7 Jul 2024 14:35:02 -0300
Subject: [PATCH 100/247] fix "telsa" typo on labeler.yaml (#32924)

---
 .github/labeler.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 47d0d480a91d21..0c5d1a687afb80 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -44,7 +44,7 @@ subaru:
 
 tesla:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
 
 toyota:
   - changed-files:

From 241fb902af49ca43bf343c60f7f96b85128a9db9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Jul 2024 19:13:48 -0700
Subject: [PATCH 101/247] publish new docs (#32922)

* push new docs

* drop the new, just docs

* cleanup
---
 .github/workflows/docs.yaml                   |  41 +-
 docs/.gitignore                               |   1 +
 docs/README.md                                |  23 +-
 docs/{new => }/docs/car-porting/brand-port.md |   0
 docs/{new => }/docs/car-porting/model-port.md |   0
 .../docs/car-porting/what-is-a-car-port.md    |   0
 .../docs/getting-started/what-is-openpilot.md |   0
 .../docs/how-to/turning-the-speed-blue.md     |   0
 docs/{new => }/mkdocs.yml                     |   0
 docs/new/README.md                            |  12 -
 pyproject.toml                                |   2 +
 uv.lock                                       | 369 +++++++++++++-----
 12 files changed, 312 insertions(+), 136 deletions(-)
 create mode 100644 docs/.gitignore
 rename docs/{new => }/docs/car-porting/brand-port.md (100%)
 rename docs/{new => }/docs/car-porting/model-port.md (100%)
 rename docs/{new => }/docs/car-porting/what-is-a-car-port.md (100%)
 rename docs/{new => }/docs/getting-started/what-is-openpilot.md (100%)
 rename docs/{new => }/docs/how-to/turning-the-speed-blue.md (100%)
 rename docs/{new => }/mkdocs.yml (100%)
 delete mode 100644 docs/new/README.md

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 908f06e034a75c..012ee9dfde7773 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -15,56 +15,51 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
-env:
-  BASE_IMAGE: openpilot-base
-
-  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
-
 jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 45
-    if: false  # TODO: replace this with the new docs
+    timeout-minutes: 1
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+
+    # Build
     - name: Build docs
       run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs mkdocs-terminal
+        cd docs
+        mkdocs build
 
+    # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 
         source release/identity.sh
 
         cd openpilot-docs
-
         git checkout --orphan tmp
         git rm -rf .
 
-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-        git add -f .
+        # copy over docs
+        cp -r ../docs/site/ site/
 
+        # GitHub pages config
+        touch site/.nojekyll
+        echo -n docs.comma.ai > site/CNAME
+
+        git add -f .
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages
+        git push -f origin tmp:gh-pages2
diff --git a/docs/.gitignore b/docs/.gitignore
new file mode 100644
index 00000000000000..46ff2463e078b6
--- /dev/null
+++ b/docs/.gitignore
@@ -0,0 +1 @@
+/site/
diff --git a/docs/README.md b/docs/README.md
index 838b00e7ae09c2..a16c7725305852 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,3 +1,22 @@
-# openpilot-docs
+# openpilot docs
 
-These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.
\ No newline at end of file
+This is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+## development
+```
+# install the docs dependencies
+pip install .[docs]
+
+cd docs/
+
+# for a development server
+mkdocs serve
+
+# build the site
+mkdocs build
+```
+
+References:
+* https://www.mkdocs.org/getting-started/
+* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/new/docs/car-porting/brand-port.md b/docs/docs/car-porting/brand-port.md
similarity index 100%
rename from docs/new/docs/car-porting/brand-port.md
rename to docs/docs/car-porting/brand-port.md
diff --git a/docs/new/docs/car-porting/model-port.md b/docs/docs/car-porting/model-port.md
similarity index 100%
rename from docs/new/docs/car-porting/model-port.md
rename to docs/docs/car-porting/model-port.md
diff --git a/docs/new/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md
similarity index 100%
rename from docs/new/docs/car-porting/what-is-a-car-port.md
rename to docs/docs/car-porting/what-is-a-car-port.md
diff --git a/docs/new/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md
similarity index 100%
rename from docs/new/docs/getting-started/what-is-openpilot.md
rename to docs/docs/getting-started/what-is-openpilot.md
diff --git a/docs/new/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md
similarity index 100%
rename from docs/new/docs/how-to/turning-the-speed-blue.md
rename to docs/docs/how-to/turning-the-speed-blue.md
diff --git a/docs/new/mkdocs.yml b/docs/mkdocs.yml
similarity index 100%
rename from docs/new/mkdocs.yml
rename to docs/mkdocs.yml
diff --git a/docs/new/README.md b/docs/new/README.md
deleted file mode 100644
index 13980d1e18b0c2..00000000000000
--- a/docs/new/README.md
+++ /dev/null
@@ -1,12 +0,0 @@
-This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
-
-https://www.mkdocs.org/getting-started/
-
-```
-pip install mkdocs mkdocs-terminal
-mkdocs serve
-```
-
-inspiration:
-* https://rerun.io/docs/
-* https://docs.expo.dev/
diff --git a/pyproject.toml b/pyproject.toml
index 4b20c84e9f8111..1023de9186f859 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -66,6 +66,8 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "mkdocs",
+  "mkdocs-terminal",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 6a9f155df79797..8e7a0394767eea 100644
--- a/uv.lock
+++ b/uv.lock
@@ -535,6 +535,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/28/76/e6222113b83e3622caa4bb41032d0b1bf785250607392e1b778aca0b8a7d/charset_normalizer-3.3.2-py3-none-any.whl", hash = "sha256:3e4d1f6587322d2788836a99c69062fbb091331ec940e02d12d179c1d53e25fc", size = 48543 },
 ]
 
+[[distribution]]
+name = "click"
+version = "8.1.7"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/96/d3/f04c7bfcf5c1862a2a5b845c6b2b360488cf47af55dfa79c98f6a6bf98b5/click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de", size = 336121 }
+dependencies = [
+    { name = "colorama", marker = "platform_system == 'Windows'" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/00/2e/d53fa4befbf2cfa713304affc7ca780ce4fc1fd8710527771b58311a3229/click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28", size = 97941 },
+]
+
 [[distribution]]
 name = "cloudpickle"
 version = "3.0.0"
@@ -843,11 +855,11 @@ wheels = [
 
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+]
+
 [[distribution]]
 name = "websocket-client"
 version = "1.8.0"

From 3c74ad145e0145429d782219ac255a26aa2f6135 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 8 Jul 2024 19:10:26 +0200
Subject: [PATCH 102/247] Processor definition check for __APPLE__ has a typo
 on replay (#32930)

---
 tools/replay/util.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index a08b3b3d5eab72..aaf73749d51d0f 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -323,7 +323,7 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   req.tv_sec = nanoseconds / 1000000000;
   req.tv_nsec = nanoseconds % 1000000000;
   while (!should_exit) {
-#ifdef __APPLE_
+#ifdef __APPLE__
     int ret = nanosleep(&req, &rem);
     if (ret == 0 || errno != EINTR)
       break;

From 4a696984f12358b8cde3b32e932704fbd0f3b811 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 10:58:08 -0700
Subject: [PATCH 103/247] [bot] Fingerprints: add missing FW versions from CAN
 fingerprinting cars (#32932)

Export fingerprints
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 8dbdbee0ef552e..c7e1418cb621b2 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -595,6 +595,7 @@
       b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
     ],

From 012eb07466ba7242a611dd57699fbbd1dd5f1d07 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 8 Jul 2024 12:10:53 -0700
Subject: [PATCH 104/247] [bot] Update Python packages and pre-commit hooks
 (#32931)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |    2 +-
 uv.lock                 | 1537 +--------------------------------------
 2 files changed, 13 insertions(+), 1526 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 676fc514da74cf..fd27ad4852e057 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.0
+    rev: v0.5.1
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/uv.lock b/uv.lock
index 8e7a0394767eea..2797eee62fb08d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -14,21 +14,6 @@ dependencies = [
     { name = "yarl" },
 ]
 wheels = [
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 ]

From 76686e197605d26be226e71e9ba803a05fa04d2f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 8 Jul 2024 12:14:32 -0700
Subject: [PATCH 105/247] docs: only push on master (#32935)

only on master
---
 .github/workflows/docs.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 012ee9dfde7773..cb55d2f831d76d 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
-      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 

From 12d729a0a0c3c1d9bbf988c09ea3a5b68433e83f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 9 Jul 2024 04:50:31 +0800
Subject: [PATCH 106/247] CarParams: set no traversal limit (#32929)

* Increase traversal_limit_in_words to Fix Traversal Limit Errors

* just use log_from_bytes

* come on pycharm

* no free lunch

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 cereal/messaging/__init__.py    | 4 ++--
 selfdrive/controls/controlsd.py | 3 +--
 selfdrive/controls/plannerd.py  | 3 +--
 selfdrive/controls/radard.py    | 3 +--
 selfdrive/locationd/paramsd.py  | 6 ++----
 selfdrive/locationd/torqued.py  | 3 +--
 selfdrive/modeld/modeld.py      | 4 ++--
 7 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 4ba55cf7b9432f..8dfa42056d0c03 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -17,8 +17,8 @@
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 416a9aa8c5979f..583cbaea1f63e1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -64,8 +64,7 @@ def __init__(self, CI=None):
 
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
-      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        self.CP = msg
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 681518be195301..a9577cbefd9410 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -12,8 +12,7 @@ def plannerd_thread():
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index ac3ec97dcce514..c3fb60c61ad1aa 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -288,8 +288,7 @@ def main():
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index d124eb5f059b1c..650ee06017e937 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -5,8 +5,7 @@
 import numpy as np
 
 import cereal.messaging as messaging
-from cereal import car
-from cereal import log
+from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
@@ -129,8 +128,7 @@ def main():
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 06f9044738e7ae..569496b58496ff 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -223,8 +223,7 @@ def main(demo=False):
   sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
-    estimator = TorqueEstimator(CP)
+  estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
   while True:
     sm.update()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index d5812d6f5af3fd..d2cc9d8fd7d9d3 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -172,8 +172,8 @@ def main(demo=False):
   if demo:
     CP = get_demo_car_params()
   else:
-    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-      CP = msg
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays

From fa2f7a4dd43df834393b95f32c5282a85e39278e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 14:16:44 -0700
Subject: [PATCH 107/247] [bot] Fingerprints: add missing FW versions from new
 users (#32936)

Export fingerprints
---
 selfdrive/car/chrysler/fingerprints.py | 1 +
 selfdrive/car/honda/fingerprints.py    | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 1bc6a32431e82e..8f6359c06b7394 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -245,6 +245,7 @@
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
+      b'68444228AC ',
       b'68444228AD ',
       b'68444228AE ',
       b'68444228AF ',
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 0904d5e12c1c8a..191fd8e44a159b 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -529,6 +529,7 @@
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C610\x00\x00',
       b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',

From 31ff8eda9cedb54aa32df8ebf5dc729addf82ef2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 14:45:01 -0700
Subject: [PATCH 108/247] Chrysler Pacifica Hybrid: combine 2017 and 2018
 (#32937)

* Chrysler Pacifica: combine 2017 and 2018 hybrids

torque params are not accurate for either (might be ~1.5 for both checking a few dongles)

* remove duplicate fingerprints

* combine docs lines

fix
---
 docs/CARS.md                           |  5 ++-
 selfdrive/car/chrysler/fingerprints.py | 42 ++++++++------------------
 selfdrive/car/chrysler/interface.py    |  4 +--
 selfdrive/car/chrysler/values.py       | 16 ++++------
 selfdrive/car/fingerprints.py          |  3 +-
 selfdrive/car/tests/routes.py          |  2 +-
 selfdrive/car/torque_data/params.toml  |  1 -
 7 files changed, 26 insertions(+), 47 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 769fe6e27aa15d..8fafc483f2ded3 100644
--- a/docs/CARS.md
+++ b/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.
 
-# 288 Supported Cars
+# 287 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017|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 2017">Buy Here</a></sub></details>||
-|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 2017-18|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 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|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 2019-24">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||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<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=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 8f6359c06b7394..5528bfd5d55fdf 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -4,35 +4,6 @@
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AK',
-    ],
-  },
   CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
@@ -181,26 +152,39 @@
   },
   CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
       b'68358439AE',
       b'68358439AG',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68238840AH',
       b'68358990AC',
       b'68405939AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'68226356AI',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
       b'68288309AD',
       b'68525339AA',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
       b'68366580AI ',
       b'68366580AK ',
       b'68366580AM ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
       b'05190226AI',
       b'05190226AK',
       b'05190226AM',
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 217a1a756c5261..eb1f6703cdfa3d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -35,8 +35,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
-                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
+                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 3315a0a98388d5..c44c647fd4f667 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -32,34 +32,30 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
   CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
       ChryslerCarDocs("Chrysler Pacifica 2019-20"),
       ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
     [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Jeep
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 1128a31c293722..dc93c38246804d 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -130,7 +130,8 @@ def all_legacy_fingerprint_cars():
 
   # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
   "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
   "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b1156f0e896693..0fc800a47d5b63 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -39,7 +39,7 @@ class CarTestRoute(NamedTuple):
 
   CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
   CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
   CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
   CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
index 34cfd0e0660b07..4bb8d45c537e19 100644
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
 "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]

From 36815cc6d536ab8926f6335574ea587947c4e222 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 9 Jul 2024 05:50:31 +0800
Subject: [PATCH 109/247] cabana: bug fixes and improvements (#32934)

bug fixes and improvements
---
 tools/cabana/chart/chart.cc            | 14 ++---
 tools/cabana/chart/chart.h             |  1 +
 tools/cabana/chart/chartswidget.cc     | 28 ++++++----
 tools/cabana/chart/sparkline.cc        |  9 +--
 tools/cabana/chart/tiplabel.h          |  2 +
 tools/cabana/dbc/dbcmanager.cc         |  7 ++-
 tools/cabana/historylog.cc             |  4 +-
 tools/cabana/streams/abstractstream.cc | 48 ++++++++--------
 tools/cabana/streams/abstractstream.h  | 30 +++++-----
 tools/cabana/streams/livestream.cc     |  6 +-
 tools/cabana/streams/livestream.h      |  7 ++-
 tools/cabana/streams/pandastream.h     |  6 ++
 tools/cabana/streams/replaystream.cc   | 13 +----
 tools/cabana/streams/replaystream.h    |  9 ++-
 tools/cabana/tools/findsignal.cc       |  6 +-
 tools/cabana/utils/export.cc           |  6 +-
 tools/cabana/videowidget.cc            | 77 +++++++++++++++++---------
 tools/cabana/videowidget.h             | 27 +++++++--
 tools/replay/consoleui.cc              | 10 ++--
 tools/replay/replay.cc                 | 24 ++++++--
 tools/replay/replay.h                  |  8 ++-
 21 files changed, 200 insertions(+), 142 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 28d4e068ee7119..128c33baec3954 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -289,10 +289,9 @@ void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<con
   step_vals.reserve(step_vals.size() + events.capacity() * 2);
 
   double value = 0;
-  const uint64_t begin_mono_time = can->routeStartTime() * 1e9;
   for (const CanEvent *e : events) {
     if (sig->getValue(e->dat, e->size, &value)) {
-      const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9;
+      const double ts = can->toSeconds(e->mono_time);
       vals.emplace_back(ts, value);
       if (!step_vals.empty())
         step_vals.emplace_back(ts, step_vals.back().y());
@@ -312,7 +311,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       auto it = events->find(s.msg_id);
       if (it == events->end() || it->second.empty()) continue;
 
-      if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) {
+      if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) {
         appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
       } else {
         std::vector<QPointF> vals, step_vals;
@@ -500,8 +499,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     rubber->hide();
     auto rect = rubber->geometry().normalized();
     // Prevent zooming/seeking past the end of the route
-    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds());
-    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds());
+    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds());
+    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds());
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
@@ -531,7 +530,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   // Scrubbing
   if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
     if (plot_area.contains(ev->pos())) {
-      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
+      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds()));
     }
   }
 
@@ -540,8 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   clearTrackPoints();
 
   if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
-    const double sec = chart()->mapToValue(ev->pos()).x();
-    charts_widget->showValueTip(sec);
+    charts_widget->showValueTip(secondsAtPoint(ev->pos()));
   } else if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 1bfec6355a6c6d..f9472bd4f6a5d2 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -39,6 +39,7 @@ class ChartView : public QChartView {
   void showTip(double sec);
   void hideTip();
   void startAnimation();
+  double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
 
   struct SigItem {
     MessageId msg_id;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 9822eaa3072be0..27846f9c925990 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -93,7 +93,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
   max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
-  display_range = {0, max_chart_range};
+  display_range = std::make_pair(can->minSeconds(), can->minSeconds() + max_chart_range);
   range_slider->setValue(max_chart_range);
   updateToolBar();
 
@@ -192,10 +192,10 @@ void ChartsWidget::updateState() {
   if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
-      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
+      display_range.first = std::max(can->minSeconds(), cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
-    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    double max_sec = std::min(display_range.first + max_chart_range, can->maxSeconds());
+    display_range.first = std::max(can->minSeconds(), max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   }
 
@@ -435,14 +435,20 @@ void ChartsWidget::alignCharts() {
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
   if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
-    auto pos = static_cast<QMouseEvent *>(e)->globalPos();
-    bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) {
-      return c->chart()->plotArea().contains(c->mapFromGlobal(pos));
-    });
-
-    if (outside_plot_area) {
-      showValueTip(-1);
+    bool on_tip = qobject_cast<TipLabel *>(o) != nullptr;
+    auto global_pos = static_cast<QMouseEvent *>(e)->globalPos();
+
+    for (const auto &c : charts) {
+      auto local_pos = c->mapFromGlobal(global_pos);
+      if (c->chart()->plotArea().contains(local_pos)) {
+        if (on_tip) {
+          showValueTip(c->secondsAtPoint(local_pos));
+        }
+        return false;
+      }
     }
+
+    showValueTip(-1);
   }
   return false;
 }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 34bc76b7c46e84..1cadda2bd8bdc7 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -8,10 +8,11 @@
 
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
-  uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
-  uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
-  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
+
+  auto range_start = can->toMonoTime(last_msg_ts - range);
+  auto range_end = can->toMonoTime(last_msg_ts);
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
   if (first == last || size.isEmpty()) {
     pixmap = QPixmap();
diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h
index ac6e09e9762bfd..cc96aa9864a7cf 100644
--- a/tools/cabana/chart/tiplabel.h
+++ b/tools/cabana/chart/tiplabel.h
@@ -3,6 +3,8 @@
 #include <QLabel>
 
 class TipLabel : public QLabel {
+  Q_OBJECT
+
 public:
   TipLabel(QWidget *parent = nullptr);
   void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect);
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 250ec225b588ca..8e98d95322c739 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
+#include <QSet>
 #include <algorithm>
 #include <numeric>
 
@@ -124,16 +125,16 @@ cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
 
 QStringList DBCManager::signalNames() {
   // Used for autocompletion
-  QStringList ret;
+  QSet<QString> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
-        ret << sig->name;
+        names.insert(sig->name);
       }
     }
   }
+  QStringList ret = names.values();
   ret.sort();
-  ret.removeDuplicates();
   return ret;
 }
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 55ba0a4919d2be..7e73da55f08844 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -13,7 +13,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const auto &m = messages[index.row()];
   const int col = index.column();
   if (role == Qt::DisplayRole) {
-    if (col == 0) return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 3);
+    if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
     if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
@@ -80,7 +80,7 @@ void HistoryLogModel::updateState(bool clear) {
     messages.clear();
     endRemoveRows();
   }
-  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  uint64_t current_time = can->toMonoTime(can->lastMessage(msg_id).ts) + 1;
   fetchData(messages.begin(), current_time, messages.empty() ? 0 : messages.front().mono_time);
 }
 
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2584106ce4848b..ee6a1143c8f9ad 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,6 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
 
-#include <algorithm>
 #include <utility>
 
 #include <QApplication>
@@ -20,9 +19,9 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
 
-  QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop);
   QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
   QObject::connect(this, &AbstractStream::streamStarted, [this]() {
@@ -64,14 +63,12 @@ void AbstractStream::suppressDefinedSignals(bool suppress) {
 size_t AbstractStream::suppressHighlighted() {
   std::lock_guard lk(mutex_);
   size_t cnt = 0;
-  const double cur_ts = currentSec();
   for (auto &[_, m] : messages_) {
     for (auto &last_change : m.last_changes) {
-      const double dt = cur_ts - last_change.ts;
+      const double dt = current_sec_ - last_change.ts;
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
-      // clear bit change counts
       last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
@@ -90,20 +87,16 @@ void AbstractStream::updateLastMessages() {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
   std::set<MessageId> msgs;
+
   {
     std::lock_guard lk(mutex_);
-    double max_sec = 0;
     for (const auto &id : new_msgs_) {
       const auto &can_data = messages_[id];
-      max_sec = std::max(max_sec, can_data.ts);
+      current_sec_ = std::max(current_sec_, can_data.ts);
       last_msgs[id] = can_data;
       sources.insert(id.source);
     }
-
-    if (!new_msgs_.empty()) {
-      msgs = std::move(new_msgs_);
-      current_sec_ = max_sec;
-    }
+    msgs = std::move(new_msgs_);
   }
 
   if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
@@ -138,7 +131,7 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
   return it != events_.end() ? it->second : empty_events;
 }
 
-const CanData &AbstractStream::lastMessage(const MessageId &id) {
+const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
   return it != last_msgs.end() ? it->second : empty_data;
@@ -148,15 +141,13 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
   current_sec_ = sec;
-  uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+  uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
   msgs.reserve(events_.size());
 
   for (const auto &[id, ev] : events_) {
     auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
     if (it != ev.begin()) {
-      auto prev = std::prev(it);
-      double ts = (*prev)->mono_time / 1e9 - routeStartTime();
       auto &m = msgs[id];
       double freq = 0;
       // Keep suppressed bits.
@@ -167,7 +158,9 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                        std::back_inserter(m.last_changes),
                        [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
       }
-      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {}, freq);
+
+      auto prev = std::prev(it);
+      m.compute(id, (*prev)->dat, (*prev)->size, toSeconds((*prev)->mono_time), getSpeed(), {}, freq);
       m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
@@ -213,7 +206,6 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
     all_events_.insert(pos, events.cbegin(), events.cend());
     emit eventsMerged(msg_events);
   }
-  lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
 }
 
 namespace {
@@ -236,14 +228,18 @@ inline QColor blend(const QColor &a, const QColor &b) {
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
   const auto &events = can->events(msg_id);
-  uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
-  uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
-  if (first != events.end() && second != events.end()) {
-    double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
-    uint32_t count = std::distance(first, second);
-    return count / std::max(1.0, duration);
+  if (events.empty()) return 0.0;
+
+  auto current_mono_time = can->toMonoTime(current_sec);
+  auto start_mono_time = can->toMonoTime(current_sec - 59);
+
+  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
+
+  int count = std::distance(first, last);
+  if (count > 1) {
+    double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+    return count / duration;
   }
   return 0;
 }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 822dd03d8478b3..9e3f92dc5df717 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <array>
 #include <memory>
 #include <mutex>
@@ -28,10 +29,10 @@ struct CanData {
   std::vector<QColor> colors;
 
   struct ByteLastChange {
-    double ts;
-    int delta;
-    int same_delta_counter;
-    bool suppressed;
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
     std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
@@ -51,12 +52,6 @@ struct CompareCanEvent {
   constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
 };
 
-struct BusConfig {
-  int can_speed_kbps = 500;
-  int data_speed_kbps = 2000;
-  bool can_fd = false;
-};
-
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
 
 class AbstractStream : public QObject {
@@ -66,15 +61,14 @@ class AbstractStream : public QObject {
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
-  virtual void stop() {}
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
-  virtual double routeStartTime() const { return 0; }
-  inline double currentSec() const { return current_sec_; }
-  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
+  virtual uint64_t beginMonoTime() const { return 0; }
+  virtual double minSeconds() const { return 0; }
+  virtual double maxSeconds() const { return 0; }
   virtual void setSpeed(float speed) {}
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
@@ -82,10 +76,14 @@ class AbstractStream : public QObject {
   void setTimeRange(const std::optional<std::pair<double, double>> &range);
   const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
 
+  inline double currentSec() const { return current_sec_; }
+  inline uint64_t toMonoTime(double sec) const { return beginMonoTime() + std::max(sec, 0.0) * 1e9; }
+  inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
+
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
-  const CanData &lastMessage(const MessageId &id);
+  const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
 
   size_t suppressHighlighted();
@@ -111,12 +109,10 @@ class AbstractStream : public QObject {
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
-  uint64_t lastest_event_ts = 0;
 
 private:
   void updateLastMessages();
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index d9d96e23b060f0..6bcb1c1d549756 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -92,6 +92,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
       mergeEvents(received_events_);
+      uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+      lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
       received_events_.clear();
     }
     if (!all_events_.empty()) {
@@ -136,8 +138,8 @@ void LiveStream::updateEvents() {
 void LiveStream::seekTo(double sec) {
   sec = std::max(0.0, sec);
   first_update_ts = nanos_since_boot();
-  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
-  post_last_event = (first_event_ts == lastEventMonoTime());
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastest_event_ts);
+  post_last_event = (first_event_ts == lastest_event_ts);
   emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
 }
 
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 9ca7e8d7459ef6..24b9285092e531 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <memory>
 #include <vector>
 
@@ -14,9 +15,10 @@ class LiveStream : public AbstractStream {
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
-  void stop() override;
+  void stop();
   inline QDateTime beginDateTime() const { return begin_date_time; }
-  inline double routeStartTime() const override { return begin_event_ts / 1e9; }
+  inline uint64_t beginMonoTime() const override { return begin_event_ts; }
+  double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
   double getSpeed() override { return speed_; }
   bool isPaused() const override { return paused_; }
@@ -41,6 +43,7 @@ class LiveStream : public AbstractStream {
 
   QDateTime begin_date_time;
   uint64_t begin_event_ts = 0;
+  uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
   uint64_t first_update_ts = 0;
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 3e762476807202..ad792ec2922d28 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -12,6 +12,12 @@
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
 
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
 struct PandaStreamConfig {
   QString serial = "";
   std::vector<BusConfig> bus_config;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 302a25696e2541..09ba3db4175dbf 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -88,16 +88,10 @@ void ReplayStream::start() {
   replay->start();
 }
 
-void ReplayStream::stop() {
-  if (replay) {
-    replay->stop();
-  }
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
-    double current_sec = event->mono_time / 1e9 - routeStartTime();
+    double current_sec = toSeconds(event->mono_time);
     capnp::FlatArrayMessageReader reader(event->data);
     auto e = reader.getRoot<cereal::Event>();
     for (const auto &c : e.getCan()) {
@@ -115,11 +109,6 @@ bool ReplayStream::eventFilter(const Event *event) {
   return true;
 }
 
-void ReplayStream::seekTo(double ts) {
-  current_sec_ = ts;
-  replay->seekTo(std::max(double(0), ts), false);
-}
-
 void ReplayStream::pause(bool pause) {
   replay->pause(pause);
   emit(pause ? paused() : resume());
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index ced78680d1e155..217d1ac1d3a2c7 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -16,17 +16,16 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override;
-  void stop() override;
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
-  void seekTo(double ts) override;
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
-  double totalSeconds() const override { return replay->totalSeconds(); }
+  double minSeconds() const override { return replay->minSeconds(); }
+  double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
-  inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
-  inline const Route *route() const { return replay->route(); }
+  inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 387a91278729e8..8e1749ba8e4a54 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -46,7 +46,7 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
     if (it != last) {
       auto values = s.values;
-      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
       std::lock_guard lk(lock);
       filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
     }
@@ -217,10 +217,10 @@ void FindSignalDlg::setInitialSignals() {
   double first_time_val = first_time_edit->text().toDouble();
   double last_time_val = last_time_edit->text().toDouble();
   auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
-  uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
+  uint64_t first_time = can->toMonoTime(first_sec);
   model->last_time = std::numeric_limits<uint64_t>::max();
   if (last_sec > 0) {
-    model->last_time = (can->routeStartTime() + last_sec) * 1e9;
+    model->last_time = can->toMonoTime(last_sec);
   }
   model->initial_signals.clear();
 
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
index 10f69ad548fe72..79ca97ba8f219d 100644
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -10,11 +10,10 @@ namespace utils {
 void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
   QFile file(file_name);
   if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    const uint64_t start_time = can->routeStartTime();
     QTextStream stream(&file);
     stream << "time,addr,bus,data\n";
     for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src << ","
              << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
     }
@@ -30,9 +29,8 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
       stream << "," << s->name;
     stream << "\n";
 
-    const uint64_t start_time = can->routeStartTime();
     for (auto e : can->events(msg_id)) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src;
       for (auto s : msg->sigs) {
         double value = 0;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index d2f78babc19060..8d2f8674b3261d 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -27,6 +27,13 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
+static Replay *getReplay() {
+  auto stream = qobject_cast<ReplayStream *>(can);
+  if (!stream) return nullptr;
+
+  return stream->getReplay();
+}
+
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
@@ -76,7 +83,7 @@ QHBoxLayout *VideoWidget::createPlaybackController() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
-      can->seekTo(can->totalSeconds() + 1);
+      can->seekTo(can->maxSeconds() + 1);
     });
   }
 
@@ -141,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -149,9 +156,11 @@ QWidget *VideoWidget::createCameraWidget() {
 
   l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
+  slider->setTimeRange(can->minSeconds(), can->maxSeconds());
 
-  setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
+  QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -161,7 +170,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   auto replay = static_cast<ReplayStream*>(can)->getReplay();
   QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
-  QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection);
   return w;
 }
 
@@ -185,7 +194,7 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }
 
 void VideoWidget::loopPlaybackClicked() {
-  auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  auto replay = getReplay();
   if (!replay) return;
 
   if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
@@ -197,18 +206,15 @@ void VideoWidget::loopPlaybackClicked() {
   }
 }
 
-void VideoWidget::setMaximumTime(double sec) {
-  maximum_time = sec;
-  slider->setTimeRange(0, sec);
-}
-
-void VideoWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
+void VideoWidget::timeRangeChanged() {
+  const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
     skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
   time_range ? slider->setTimeRange(time_range->first, time_range->second)
-             : slider->setTimeRange(0, maximum_time);
+             : slider->setTimeRange(can->minSeconds(), can->maxSeconds());
+  updateState();
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -219,8 +225,9 @@ QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
 
 void VideoWidget::updateState() {
   if (slider) {
-    if (!slider->isSliderDown())
+    if (!slider->isSliderDown()) {
       slider->setCurrentSecond(can->currentSec());
+    }
     alert_label->showAlert(slider->alertInfo(can->currentSec()));
     time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
@@ -242,15 +249,14 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  uint64_t mono_time = can->toMonoTime(seconds);
   auto alert_it = alerts.lower_bound(mono_time);
   bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
   return has_alert ? alert_it->second : AlertInfo{};
 }
 
 QPixmap Slider::thumbnail(double seconds)  {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
-  auto it = thumbnails.lowerBound(mono_time);
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
   return it != thumbnails.end() ? it.value() : QPixmap();
 }
 
@@ -298,16 +304,18 @@ void Slider::paintEvent(QPaintEvent *ev) {
     p.fillRect(r, color);
   };
 
-  const auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
-  for (auto [begin, end, type] : replay->getTimeline()) {
-    fillRange(begin, end, timeline_colors[(int)type]);
-  }
+  auto replay = getReplay();
+  if (replay) {
+    for (auto [begin, end, type] : replay->getTimeline()) {
+      fillRange(begin, end, timeline_colors[(int)type]);
+    }
 
-  QColor empty_color = palette().color(QPalette::Window);
-  empty_color.setAlpha(160);
-  for (const auto &[n, seg] : replay->segments()) {
-    if (!(seg && seg->isLoaded()))
-      fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    QColor empty_color = palette().color(QPalette::Window);
+    empty_color.setAlpha(160);
+    for (const auto &[n, seg] : replay->segments()) {
+      if (!(seg && seg->isLoaded()))
+        fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    }
   }
 
   QStyleOptionSlider opt;
@@ -411,3 +419,22 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
     p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
   }
 }
+
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, zoom, parent) {
+  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
+  fade_animation->setDuration(500);
+  fade_animation->setStartValue(0.2f);
+  fade_animation->setEndValue(0.7f);
+}
+
+void StreamCameraView::paintGL() {
+  CameraWidget::paintGL();
+
+  if (can->isPaused()) {
+    QPainter p(this);
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
+    p.setFont(QFont(font().family(), 16, QFont::Bold));
+    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
+  }
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index ac34c66007bacf..1e793e9d1ddeaa 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -4,10 +4,12 @@
 #include <memory>
 #include <optional>
 #include <set>
+#include <string>
 #include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
+#include <QPropertyAnimation>
 #include <QSlider>
 #include <QTabBar>
 
@@ -57,16 +59,34 @@ class Slider : public QSlider {
   InfoLabel *thumbnail_label;
 };
 
+class StreamCameraView : public CameraWidget {
+  Q_OBJECT
+  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
+
+public:
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  void paintGL() override;
+  void showPausedOverlay() { fade_animation->start(); }
+  float overlayOpacity() const { return overlay_opacity; }
+  void setOverlayOpacity(float opacity) {
+    overlay_opacity = opacity;
+    update();
+  }
+
+private:
+  float overlay_opacity;
+  QPropertyAnimation *fade_animation;
+};
+
 class VideoWidget : public QFrame {
   Q_OBJECT
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
-  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void timeRangeChanged();
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
@@ -74,8 +94,7 @@ class VideoWidget : public QFrame {
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
-  CameraWidget *cam_widget;
-  double maximum_time = 0;
+  StreamCameraView *cam_widget;
   QToolButton *time_btn = nullptr;
   ToolButton *seek_backward_btn = nullptr;
   ToolButton *play_btn = nullptr;
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index eaff78c6912ac6..21ca0ad74b8468 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -171,7 +171,7 @@ void ConsoleUI::updateStatus() {
 
   if (status != Status::Paused) {
     auto events = replay->events();
-    uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
+    uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9;
     bool playing = !events->empty() && events->back().mono_time > current_mono_time;
     status = playing ? Status::Playing : Status::Waiting;
   }
@@ -262,10 +262,10 @@ void ConsoleUI::updateTimeline() {
   mvwhline(win, 2, 0, ' ', width);
   wattroff(win, COLOR_PAIR(Color::Disengaged));
 
-  const int total_sec = replay->totalSeconds();
+  const int total_sec = replay->maxSeconds() - replay->minSeconds();
   for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = (begin / total_sec) * width;
-    int end_pos = (end / total_sec) * width;
+    int start_pos = ((begin - replay->minSeconds()) / total_sec) * width;
+    int end_pos = ((end - replay->minSeconds()) / total_sec) * width;
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
@@ -280,7 +280,7 @@ void ConsoleUI::updateTimeline() {
     }
   }
 
-  int cur_pos = ((double)replay->currentSeconds() / total_sec) * width;
+  int cur_pos = ((replay->currentSeconds() - replay->minSeconds()) / total_sec) * width;
   wattron(win, COLOR_PAIR(Color::BrightWhite));
   mvwaddch(win, 0, cur_pos, ACS_VLINE);
   mvwaddch(win, 3, cur_pos, ACS_VLINE);
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 15daecf01fe5cf..4fea879f8b5a27 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -85,6 +85,7 @@ bool Replay::load() {
     return false;
   }
   rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size());
+  max_seconds_ = (segments_.rbegin()->first + 1) * 60;
   return true;
 }
 
@@ -108,7 +109,11 @@ void Replay::seekTo(double seconds, bool relative) {
     target_time = std::max(double(0.0), target_time);
     int target_segment = (int)target_time / 60;
     if (segments_.count(target_segment) == 0) {
-      rWarning("Can't seek to %d s segment %d is invalid", (int)target_time, target_segment);
+      rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment);
+      return true;
+    }
+    if (target_time > max_seconds_) {
+      rWarning("Can't seek to %.2f s, time is invalid", target_time);
       return true;
     }
 
@@ -193,15 +198,22 @@ void Replay::buildTimeline() {
       }
     }
 
+    if (it->first == route_segments.rbegin()->first) {
+      if (engaged) {
+        timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
+      }
+      if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+        timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
+      }
+
+      max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time));
+      emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_);
+    }
     {
       std::lock_guard lk(timeline_lock);
       timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
       std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
     }
-
-    if (it->first == route_segments.rbegin()->first) {
-      emit totalSecondsUpdated(toSeconds(log->events.back().mono_time));
-    }
     emit qLogLoaded(log);
   }
 }
@@ -463,7 +475,7 @@ void Replay::streamThread() {
       int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
-        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
+        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection);
       }
     }
   }
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 7e1815ede00a4b..ac829ffb71b752 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -76,9 +76,10 @@ class Replay : public QObject {
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline QDateTime routeDateTime() const { return route_date_time_; }
   inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
-  inline uint64_t routeStartTime() const { return route_start_ts_; }
+  inline uint64_t routeStartNanos() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
-  inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
+  inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; }
+  inline double maxSeconds() const { return max_seconds_; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event> *events() const { return &events_; }
@@ -95,7 +96,7 @@ class Replay : public QObject {
   void seeking(double sec);
   void seekedTo(double sec);
   void qLogLoaded(std::shared_ptr<LogReader> qlog);
-  void totalSecondsUpdated(double sec);
+  void minMaxTimeChanged(double min_sec, double max_sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -133,6 +134,7 @@ protected slots:
   QDateTime route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
+  std::atomic<double> max_seconds_ = 0;
   std::vector<Event> events_;
   std::set<int> merged_segments_;
 

From 67038d5b59d82b1eb094746ab99fa7d8e7d10e71 Mon Sep 17 00:00:00 2001
From: dany7915 <dany7915@gmail.com>
Date: Tue, 9 Jul 2024 06:54:11 +0900
Subject: [PATCH 110/247] Fingerprint: Kia K5 HEV 2020 (#32875)

fingerprint added
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index c7e1418cb621b2..4ad7e0e0aabb23 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -585,6 +585,7 @@
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],

From 4014109666e66ca8ed0b096159d424b4b55caca4 Mon Sep 17 00:00:00 2001
From: JaReal07 <153245974+JaReal07@users.noreply.github.com>
Date: Mon, 8 Jul 2024 18:58:22 -0300
Subject: [PATCH 111/247] Update fingerprints.py Corolla 2024 (South America)
 (#32864)

Add Corolla Sedan 2024 (South America), new 'engine' and 'eps' fwversion
---
 selfdrive/car/toyota/fingerprints.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 5e746d13115912..67203da7d0629c 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -441,6 +441,7 @@
       b'\x01896630ZU8000\x00\x00\x00\x00',
       b'\x01896630ZU9000\x00\x00\x00\x00',
       b'\x01896630ZX4000\x00\x00\x00\x00',
+      b'\x01896630ZX7100\x00\x00\x00\x00',
       b'\x018966312L8000\x00\x00\x00\x00',
       b'\x018966312M0000\x00\x00\x00\x00',
       b'\x018966312M9000\x00\x00\x00\x00',
@@ -516,6 +517,7 @@
       b'\x018965B1254000\x00\x00\x00\x00',
       b'\x018965B1255000\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
+      b'\x018965B1270000\x00\x00\x00\x00',
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
       b'8965B16011\x00\x00\x00\x00\x00\x00',

From 15d3397ec6d32bb4e3319ff615526b175b267949 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 8 Jul 2024 19:42:26 -0400
Subject: [PATCH 112/247] CI: Compile openpilot on macOS (#32909)

* working

* cache

* bring back
---
 .github/workflows/selfdrive_tests.yaml | 13 +++++++++++--
 tools/mac_setup.sh                     |  1 +
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 3359f2a15e4007..419c47208401e8 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -106,8 +106,17 @@ jobs:
         SKIP_PROMPT: 1
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
-    - name: Test openpilot environment
-      run: . .venv/bin/activate && scons -h
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
 
   static_analysis:
     name: static analysis
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 6b2d668524c0e4..9823427e652dcd 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -63,6 +63,7 @@ brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
+brew "gcc@13"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"

From f6189568eab0244ed792ef299fb781cc4c92fb9b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Jul 2024 16:55:16 -0700
Subject: [PATCH 113/247] mvp of new docs.comma.ai (#32926)

* ssh docs

* strict

* need an index

* push to prod
---
 .github/workflows/docs.yaml                   |  2 +-
 docs/docs/car-porting/what-is-a-car-port.md   | 25 +++++++++----
 docs/docs/contributing/architecture.md        |  1 +
 docs/docs/contributing/roadmap.md             |  5 +++
 .../docs/getting-started/what-is-openpilot.md |  2 +-
 .../docs/how-to/connect-to-comma.md           | 36 ++++++++++---------
 docs/docs/how-to/first-pr.md                  |  0
 docs/docs/index.md                            |  1 +
 docs/mkdocs.yml                               | 16 ++++++++-
 {tools/ssh => system/hardware/tici}/id_rsa    |  0
 10 files changed, 63 insertions(+), 25 deletions(-)
 create mode 100644 docs/docs/contributing/architecture.md
 create mode 100644 docs/docs/contributing/roadmap.md
 rename tools/ssh/README.md => docs/docs/how-to/connect-to-comma.md (63%)
 create mode 100644 docs/docs/how-to/first-pr.md
 create mode 120000 docs/docs/index.md
 rename {tools/ssh => system/hardware/tici}/id_rsa (100%)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index cb55d2f831d76d..b14ae658422e4a 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -62,4 +62,4 @@ jobs:
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages2
+        git push -f origin tmp:gh-pages
diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md
index d089d9513ed9c7..b918bb50e03f7e 100644
--- a/docs/docs/car-porting/what-is-a-car-port.md
+++ b/docs/docs/car-porting/what-is-a-car-port.md
@@ -1,9 +1,22 @@
 # What is a car port?
 
-All car ports live in `openpilot/selfdrive/car/`.
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
 
-* interface.py: Interface for the car, defines the CarInterface class
-* carstate.py: Reads CAN from car and builds openpilot CarState message
-* carcontroller.py: Builds CAN messages to send to car
-* values.py: Limits for actuation, general constants for cars, and supported car documentation
-* radar_interface.py: Interface for parsing radar points from the car
+The complexity of a car port varies depending on many factors including:
+* existing openpilot support for similar cars
+* architecture and APIs available in the car
+
+
+# Structure of a car port
+* `interface.py`: Interface for the car, defines the CarInterface class
+* `carstate.py`: Reads CAN from car and builds openpilot CarState message
+* `carcontroller.py`: Builds CAN messages to send to car
+* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
+* `radar_interface.py`: Interface for parsing radar points from the car
+
+
+# Overiew
+
+[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
+
+https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
diff --git a/docs/docs/contributing/architecture.md b/docs/docs/contributing/architecture.md
new file mode 100644
index 00000000000000..c79bec1ac69aea
--- /dev/null
+++ b/docs/docs/contributing/architecture.md
@@ -0,0 +1 @@
+# Architecture
diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md
new file mode 100644
index 00000000000000..64ccdb3b75d0d0
--- /dev/null
+++ b/docs/docs/contributing/roadmap.md
@@ -0,0 +1,5 @@
+# Roadmap
+
+Coming soon...
+
+For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties).
diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md
index de45ae035bc980..b3c56c8410d803 100644
--- a/docs/docs/getting-started/what-is-openpilot.md
+++ b/docs/docs/getting-started/what-is-openpilot.md
@@ -1,6 +1,6 @@
 # What is openpilot?
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
 
 
 ## How do I use it?
diff --git a/tools/ssh/README.md b/docs/docs/how-to/connect-to-comma.md
similarity index 63%
rename from tools/ssh/README.md
rename to docs/docs/how-to/connect-to-comma.md
index 588ea71579b93c..53460ac990199b 100644
--- a/tools/ssh/README.md
+++ b/docs/docs/how-to/connect-to-comma.md
@@ -1,39 +1,42 @@
-# SSH
+# connect to a comma 3/3X
 
-## Quick Start
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+
+## Serial Console
+
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+
+## SSH
 
 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
 
 * Enable SSH in your device's settings
 * Enter your GitHub username in the device's settings
 * Connect to your device
-  * Username: `comma`
-  * Port: `22` or `8022`
+    * Username: `comma`
+    * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
 `ssh comma@192.168.43.1`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
-## Notes
+### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+#### ssh.comma.ai proxy
 
-# Connecting to ssh.comma.ai
-SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
+With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
-## Setup
-
-With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
-
-## Recommended .ssh/config
-
-With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br />
-For example: `ssh comma-ffffffffffffffff`
+With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
 
 ```
 Host comma-*
@@ -41,6 +44,7 @@ Host comma-*
   User comma
   IdentityFile ~/.ssh/my_github_key
   ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+
 Host ssh.comma.ai
   Hostname ssh.comma.ai
   Port 22
diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/docs/docs/index.md b/docs/docs/index.md
new file mode 120000
index 00000000000000..74ea27aeeb6b72
--- /dev/null
+++ b/docs/docs/index.md
@@ -0,0 +1 @@
+getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index b0f571954dbc56..45a1503b0c1dad 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -1,6 +1,9 @@
 site_name: openpilot docs
 docs_dir: docs
 repo_url: https://github.com/commaai/openpilot/
+site_url: https://docs.comma.ai
+
+strict: true
 
 theme:
   name: terminal
@@ -11,8 +14,19 @@ nav:
   - Getting Started:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
-    - Turn the speed blue: how-to/turning-the-speed-blue.md
+    #- Make my first pull request: how-to/first-pr.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md
     - Porting a car model: car-porting/model-port.md
+  - Contributing:
+    - Roadmap: contributing/roadmap.md
+    #- Architecture: contributing/architecture.md
+    - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+  - Links:
+    - Blog: https://blog.comma.ai
+    - Bounties: https://comma.ai/bounties
+    - GitHub: https://github.com/commaai
+    - Discord: https://discord.comma.ai
+    - X: https://x.com/comma_ai
diff --git a/tools/ssh/id_rsa b/system/hardware/tici/id_rsa
similarity index 100%
rename from tools/ssh/id_rsa
rename to system/hardware/tici/id_rsa

From 8c6c6e435f0ef18456ad553cbf5c1555bfc210c7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Jul 2024 17:05:42 -0700
Subject: [PATCH 114/247] site -> docs

---
 .github/workflows/docs.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index b14ae658422e4a..f5cc0d5003f59d 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -52,11 +52,11 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs/site/ site/
+        cp -r ../docs/site/ docs/
 
         # GitHub pages config
-        touch site/.nojekyll
-        echo -n docs.comma.ai > site/CNAME
+        touch docs/.nojekyll
+        echo -n docs.comma.ai > docs/CNAME
 
         git add -f .
         git commit -m "build docs"

From 6745c66352ffacabbf1201f766ab7ff308724d18 Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Mon, 8 Jul 2024 21:07:34 -0600
Subject: [PATCH 115/247] Update ci weekly report summary (#32911)

* update ci weekly report summary

* don't add skipped jobs to report

* uncomment job condition

* use jinja template

* add run number to failure links

* add run number to failure links

* Log for run #<num>

* use list

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 .github/workflows/ci_weekly_report.yaml | 104 ++++++++++--------------
 1 file changed, 41 insertions(+), 63 deletions(-)

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index c5c98b46b552f6..22b87458726c5a 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -10,38 +10,30 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
 jobs:
   setup:
     if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
     steps:
       - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
         run: |
-          CI_RUNS=${{ inputs.ci_runs || '50' }}
-          mylist="value=["
-
-          for i in $(seq 1 $CI_RUNS);
-          do
-              if [ $i != $CI_RUNS ]; then
-                  mylist+="\"$i\", "
-              else
-                  mylist+="\"$i\"]"
-              fi
-          done
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT
 
-          echo "$mylist" >> $GITHUB_OUTPUT
-          echo "Number of CI runs for report: $CI_RUNS"
   ci_matrix_run:
     needs: [ setup ]
     strategy:
       fail-fast: false
-      matrix:
-        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
     uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
-      run_number: ${{ matrix.value }}
+      run_number: ${{ matrix.run_number }}
 
   report:
     needs: [ci_matrix_run]
@@ -62,62 +54,48 @@ jobs:
               })
             var report = {}
             jobs.slice(1, jobs.length-1).forEach(job => {
-              const jobName = job.name.split('/')[2].trim();
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
               report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
               switch (job.conclusion) {
                 case "success":
-                  report[jobName].successes.push(job.html_url); break;
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
-                  report[jobName].failures.push(job.html_url); break;
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
                 case "cancelled":
-                  report[jobName].cancelled.push(job.html_url); break;
+                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
-            return JSON.stringify(report);
+            return JSON.stringify({"jobs": report});
 
       - name: Add job results to summary
         env:
           JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
         run: |
-          echo $JOB_RESULTS > job_results.json
-          generate_html_table() {
-            echo "<table>"
-            echo "<thead>"
-            echo "  <tr>"
-            echo "    <th>Job</th>"
-            echo "    <th>Succeeded ✅</th>"
-            echo "    <th>Failed ❌</th>"
-            echo "    <th>Cancelled (timed out) ⏰</th>"
-            echo "  </tr>"
-            echo "</thead>"
-            jq -r '
-              "<tbody>",
-              keys[] as $job |
-              "<tr>",
-              "  <td>\($job)</td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].successes | length))</summary>",
-              "      \(.[$job].successes[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].failures | length))</summary>",
-              "      \(.[$job].failures[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].cancelled | length))</summary>",
-              "      \(.[$job].cancelled[])<br>",
-              "    </details>",
-              "  </td>",
-              "</tr>"
-            ' job_results.json
-            echo  "</tbody>"
-            echo  "</table>"
-          }
-          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
-          generate_html_table >> $GITHUB_STEP_SUMMARY
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF
 
+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY

From 481e5b28bd886703e69b05b9b342a7ef9804f9d6 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 9 Jul 2024 08:08:38 +0300
Subject: [PATCH 116/247] Rewrite git history (#31562)

* bfg

* filter repo is the new shit

* down to 27M

* move big files to lfs; remove external and phonelibs

* wip - rebase devel; don't delete external and phonelibs anymore

* wip - rebase devel hacks

* wip - rebase devel updates

* wip - rebase updates; lfs updates

* cleaned unused scripts

* wip - lfs fixes

* bfg with rebase with correct dates

* bfg script with cherry-pick method

* latest git-filter-repo analysis

* latest git-filter-repo 'before' analysis

* new lfs import

* latest git-filter-repo analysis

* lfs update; renamed rebase repos

* renamed scripts

* different tmp folders for rewrite scripts; lfs update

* gitattributes after lfs import

* tag-commit-map file with old tags pointing to old commits

* new tags

* final touches

* squash setup commits; cherry-pick validation; reverted to commaai remote

* removed rebase version

* 0.9.7 tag in tag-commit-map

* removed unused openpilot-release-archive

* fixed archive of old history because of 2 GB limit

* archive of old history push master first

* fix tags being deleted

* cleaning and more logs

* rewrite other branches with master history

* Former-commit-id

* updates to previous commits

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 scripts/git_rewrite/rewrite-git-history.sh | 357 +++++++++++++++++++++
 scripts/git_rewrite/tag-commit-map.txt     |  82 +++++
 2 files changed, 439 insertions(+)
 create mode 100755 scripts/git_rewrite/rewrite-git-history.sh
 create mode 100644 scripts/git_rewrite/tag-commit-map.txt

diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
new file mode 100755
index 00000000000000..4130b55db9ac3f
--- /dev/null
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -0,0 +1,357 @@
+#!/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt
+exec > >(tee -a "$LOG_FILE") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files"
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)"
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
+  cd $SRC_CLONE
+
+  # empty file
+  > branch-diff.txt
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$')
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+      
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+      
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+      
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt
+            echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+      
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+      
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt
+       echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt
+       git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
+  cd $SRC_CLONE
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+  VALIDATE_IGNORE_FILES=(
+    ".github/ISSUE_TEMPLATE/bug_report.md"
+    ".github/pull_request_template.md"
+  )
+
+  # empty file
+  > commit-diff.txt
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> commit-diff.txt
+  echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt
+  echo "Different commits: $COUNT_DIFF" >> commit-diff.txt
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*)
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2)
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
new file mode 100644
index 00000000000000..66b1fb00c182a0
--- /dev/null
+++ b/scripts/git_rewrite/tag-commit-map.txt
@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
+v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
+v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
+v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
+v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
+v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
+v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
+v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
+v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
+v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
+v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
+v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
+v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
+v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
+v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
+v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
+v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
+v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
+v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
+v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
+v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
+v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
+v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
+v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
+v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
+v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
+v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
+v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
+v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
+v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
+v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
+v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
+v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
+v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
+v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
+v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
+v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
+v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
+v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
+v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
+v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
+v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
+v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
+v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
+v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
+v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
+v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
+v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
+v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
+v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
+v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
+v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
+v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
+v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
+v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
+v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
+v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
+v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
+v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
+v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
+v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
+v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
+v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
+v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
+v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
+v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
+v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
+v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
+v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
+v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
+v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
+v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
+v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
+v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
+v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
+v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
+v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
+v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
+v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee

From 35df0a4fda99e42f49a734890de2dea5a641c639 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 22:53:59 -0700
Subject: [PATCH 117/247] torqued: rename lat_active (#32942)

* Update torqued.py

* lint

* not necessary
---
 selfdrive/locationd/torqued.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 569496b58496ff..c254896e2b8e1a 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -159,7 +159,7 @@ def update_params(self, params):
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
-      self.raw_points["active"].append(msg.latActive)
+      self.raw_points["lat_active"].append(msg.latActive)
     elif which == "carOutput":
       self.raw_points["carOutput_t"].append(t + self.lag)
       self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
@@ -171,12 +171,12 @@ def handle_log(self, t, which, msg):
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]
         roll = msg.orientationNED.value[0]
-        active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
         steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
         steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-        if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
+        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
           self.filtered_points.add_point(float(steer), float(lateral_acc))
 
   def get_msg(self, valid=True, with_points=False):

From 133f25eecbd7be2343624c8ed3c426663bd027e5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 9 Jul 2024 15:01:16 -0700
Subject: [PATCH 118/247] switch cereal to pytest (#32950)

pytest
---
 cereal/messaging/tests/test_messaging.py      | 52 ++++++++-----------
 cereal/messaging/tests/test_pub_sub_master.py | 44 +++++++---------
 cereal/messaging/tests/test_services.py       | 13 ++---
 pyproject.toml                                |  2 +-
 4 files changed, 45 insertions(+), 66 deletions(-)
 mode change 100755 => 100644 cereal/messaging/tests/test_messaging.py
 mode change 100755 => 100644 cereal/messaging/tests/test_pub_sub_master.py
 mode change 100755 => 100644 cereal/messaging/tests/test_services.py

diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
old mode 100755
new mode 100644
index 429c2d3c53eb74..58fa7f7b28c093
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@@ -6,8 +5,8 @@
 import random
 import threading
 import time
-import unittest
 from parameterized import parameterized
+import pytest
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -28,12 +27,6 @@ def zmq_sleep(t=1):
   if "ZMQ" in os.environ:
     time.sleep(t)
 
-def zmq_expected_failure(func):
-  if "ZMQ" in os.environ:
-    return unittest.expectedFailure(func)
-  else:
-    return func
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -58,12 +51,12 @@ def send_func():
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging(unittest.TestCase):
+class TestMessaging:
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
     if "ZMQ" in os.environ:
-      raise unittest.SkipTest
+      pytest.skip()
 
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
@@ -75,9 +68,9 @@ def test_new_message(self, evt):
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertFalse(msg.valid)
-    self.assertEqual(evt, msg.which())
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert not msg.valid
+    assert evt == msg.which()
 
   @parameterized.expand(events)
   def test_pub_sock(self, evt):
@@ -99,8 +92,8 @@ def test_drain_sock(self, func, expected_type):
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
+    assert isinstance(msgs, list)
+    assert len(msgs) == 0
 
     # no wait but msgs are queued up
     num_msgs = random.randrange(3, 10)
@@ -108,9 +101,9 @@ def test_drain_sock(self, func, expected_type):
       pub_sock.send(messaging.new_message(sock).to_bytes())
     time.sleep(0.1)
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
-    self.assertEqual(len(msgs), num_msgs)
+    assert isinstance(msgs, list)
+    assert all(isinstance(msg, expected_type) for msg in msgs)
+    assert len(msgs) == num_msgs
 
   def test_recv_sock(self):
     sock = "carState"
@@ -120,14 +113,14 @@ def test_recv_sock(self):
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # no wait and one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     time.sleep(0.01)
     recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     # https://github.com/python/mypy/issues/13038
     assert_carstate(msg.carState, recvd.carState)
 
@@ -139,16 +132,16 @@ def test_recv_one(self):
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @zmq_expected_failure
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
@@ -157,13 +150,13 @@ def test_recv_one_or_none(self):
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
   def test_recv_one_retry(self):
@@ -179,7 +172,7 @@ def test_recv_one_retry(self):
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
       time.sleep(sock_timeout*15)
-      self.assertTrue(p.is_alive())
+      assert p.is_alive()
       p.terminate()
 
     # wait 15 socket timeouts before sending
@@ -187,9 +180,6 @@ def test_recv_one_retry(self):
     delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
old mode 100755
new mode 100644
index 81a1cf2d57c28d..ba5b397aad3a35
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,8 +1,6 @@
-#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
-import unittest
 
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -10,9 +8,9 @@
                                                   zmq_sleep
 
 
-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -21,21 +19,21 @@ def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
+      assert len(cast(Sized, p)) == len(events)
 
   def test_init_state(self):
     socks = random_socks()
     sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
-    self.assertFalse(any(sm.updated.values()))
-    self.assertFalse(any(sm.alive.values()))
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+    assert sm.frame == -1
+    assert not any(sm.updated.values())
+    assert not any(sm.alive.values())
+    assert all(t == 0. for t in sm.recv_time.values())
+    assert all(f == 0 for f in sm.recv_frame.values())
+    assert all(t == 0 for t in sm.logMonoTime.values())
 
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
+      assert len(cast(Sized, p)) == len(socks)
 
   def test_getitem(self):
     sock = "carState"
@@ -59,8 +57,8 @@ def test_update(self):
       msg = messaging.new_message(sock)
       pub_sock.send(msg.to_bytes())
       sm.update(1000)
-      self.assertEqual(sm.frame, i)
-      self.assertTrue(all(sm.updated.values()))
+      assert sm.frame == i
+      assert all(sm.updated.values())
 
   def test_update_timeout(self):
     sock = random_sock()
@@ -70,9 +68,9 @@ def test_update_timeout(self):
       start_time = time.monotonic()
       sm.update(timeout)
       t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
-      self.assertLess(t, 5)
-      self.assertFalse(any(sm.updated.values()))
+      assert t >= timeout/1000.
+      assert t < 5
+      assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -118,12 +116,12 @@ def test_conflate(self):
       pub_sock.send(msg.to_bytes())
       time.sleep(0.01)
     sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
+    assert sm[sock].vEgo == n
 
 
-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -156,8 +154,4 @@ def test_send(self):
         if capnp:
           msg.clear_write_flag()
           msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
-  unittest.main()
+        assert msg == recvd, i
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
old mode 100755
new mode 100644
index ec96c90bc23323..01e859a5a32ee1
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,26 +1,21 @@
-#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
-import unittest
 from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
 
 
-class TestServices(unittest.TestCase):
+class TestServices:
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
     service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
-    self.assertTrue(service.decimation != 0)
+    assert service.frequency <= 104
+    assert service.decimation != 0
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
       ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
-  unittest.main()
+      assert ret == 0, "generated services header is not valid C"
diff --git a/pyproject.toml b/pyproject.toml
index 1023de9186f859..0f5d9aa1cc13d1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -136,7 +136,7 @@ packages = [ "." ]
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"

From 0c58e35b6c2294ef9ad149081a95739524fe74ae Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 21:16:36 -0700
Subject: [PATCH 119/247] format torqued.py

---
 selfdrive/locationd/torqued.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index c254896e2b8e1a..4ec4b928ab81bc 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -36,8 +36,8 @@
 
 
 def slope2rot(slope):
-  sin = np.sqrt(slope**2 / (slope**2 + 1))
-  cos = np.sqrt(1 / (slope**2 + 1))
+  sin = np.sqrt(slope ** 2 / (slope ** 2 + 1))
+  cos = np.sqrt(1 / (slope ** 2 + 1))
   return np.array([[cos, -sin], [sin, cos]])
 
 
@@ -52,7 +52,7 @@ def add_point(self, x, y):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2   # from controlsd
+    self.lag = CP.steerActuatorDelay + .2  # from controlsd
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -242,8 +242,10 @@ def main(demo=False):
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
+
 if __name__ == "__main__":
   import argparse
+
   parser = argparse.ArgumentParser(description='Process the --demo argument.')
   parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
   args = parser.parse_args()

From 5efdaf202624956f03a9c5f521bf692dae213c48 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 22:21:50 -0700
Subject: [PATCH 120/247] torqued: option to keep track of all points (#32957)

* how about this

* here

* rename

* revert

* revert this too

* can do this

* ugh inside TorqueBuckets it implicitly limits steer torque to 50%!!!!!!!!

* fix

* move up
---
 selfdrive/locationd/torqued.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 4ec4b928ab81bc..cb10fa93abc9fb 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -50,9 +50,10 @@ def add_point(self, x, y):
 
 
 class TorqueEstimator(ParameterEstimator):
-  def __init__(self, CP, decimated=False):
+  def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -135,6 +136,7 @@ def reset(self):
                                          min_points_total=self.min_points_total,
                                          points_per_bucket=POINTS_PER_BUCKET,
                                          rowsize=3)
+    self.all_torque_points = []
 
   def estimate_params(self):
     points = self.filtered_points.get_points(self.fit_points)
@@ -174,10 +176,14 @@ def handle_log(self, t, which, msg):
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
         steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
-        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
-        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
-          self.filtered_points.add_point(float(steer), float(lateral_acc))
+        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
+        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
+        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD):
+          if abs(lateral_acc) <= LAT_ACC_THRESHOLD:
+            self.filtered_points.add_point(steer, lateral_acc)
+
+          if self.track_all_points:
+            self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
     msg = messaging.new_message('liveTorqueParameters')

From fbc53a24a3b1977814b50c4021ba9c445c8f7f74 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 22:26:58 -0700
Subject: [PATCH 121/247] torqued: clean up (#32958)

* formatting

* function signatures didn't match

* function signatures didn't match

* filtered and raw mean something totally different when it comes to params

filtered and raw mean something totally different when it comes to params

* cmt

* probably better for organization

* add todo

* STASH

* revert some stuff

* clean up

* oof
---
 selfdrive/locationd/helpers.py | 2 +-
 selfdrive/locationd/torqued.py | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 786bdbbfec804f..8f7211aebfe3c7 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -38,7 +38,7 @@ def is_valid(self) -> bool:
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 
-  def add_point(self, x: float, y: float, bucket_val: float) -> None:
+  def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
   def get_points(self, num_points: int = None) -> Any:
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index cb10fa93abc9fb..ba649b318dedf4 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -120,7 +120,8 @@ def __init__(self, CP, decimated=False, track_all_points=False):
     for param in initial_params:
       self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
 
-  def get_restore_key(self, CP, version):
+  @staticmethod
+  def get_restore_key(CP, version):
     a, b = None, None
     if CP.lateralTuning.which() == 'torque':
       a = CP.lateralTuning.torque.friction
@@ -167,8 +168,11 @@ def handle_log(self, t, which, msg):
       self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
+      # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
+
+    # calculate lateral accel from past steering torque
     elif which == "liveLocationKalman":
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]

From c17c34187b6e9c14b3c00135386625bbb601ed22 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 11 Jul 2024 06:10:24 +0800
Subject: [PATCH 122/247] cabana: simplify stream management and remove
 problematic autosave feature (#32945)

simplify code and remove problematic code
---
 tools/cabana/cabana.cc                  |  29 +---
 tools/cabana/chart/chart.cc             |   9 +-
 tools/cabana/chart/chartswidget.h       |   1 -
 tools/cabana/chart/signalselector.cc    |   3 +-
 tools/cabana/chart/sparkline.cc         |   9 +-
 tools/cabana/chart/sparkline.h          |   1 +
 tools/cabana/dbc/dbcfile.cc             |  23 +--
 tools/cabana/dbc/dbcfile.h              |   6 +-
 tools/cabana/mainwin.cc                 | 207 +++++++++---------------
 tools/cabana/mainwin.h                  |  17 +-
 tools/cabana/signalview.cc              |   2 +-
 tools/cabana/signalview.h               |   1 +
 tools/cabana/streams/abstractstream.cc  |  11 --
 tools/cabana/streams/abstractstream.h   |  21 +--
 tools/cabana/streams/devicestream.cc    |  11 +-
 tools/cabana/streams/devicestream.h     |   6 +-
 tools/cabana/streams/livestream.cc      |   1 -
 tools/cabana/streams/pandastream.cc     |  13 +-
 tools/cabana/streams/pandastream.h      |   6 +-
 tools/cabana/streams/replaystream.cc    |  17 +-
 tools/cabana/streams/replaystream.h     |   8 +-
 tools/cabana/streams/socketcanstream.cc |  13 +-
 tools/cabana/streams/socketcanstream.h  |   6 +-
 tools/cabana/streamselector.cc          |  16 +-
 tools/cabana/streamselector.h           |   6 +-
 25 files changed, 134 insertions(+), 309 deletions(-)

diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 4a3b4126dd6b8b..a798d13a81b65e 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -38,26 +38,19 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
 
-  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
-
   AbstractStream *stream = nullptr;
+
   if (cmd_parser.isSet("stream")) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    PandaStreamConfig config = {};
-    if (cmd_parser.isSet("panda-serial")) {
-      config.serial = cmd_parser.value("panda-serial");
-    }
     try {
-      stream = new PandaStream(&app, config);
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (cmd_parser.isSet("socketcan")) {
-    SocketCanStreamConfig config = {};
-    config.device = cmd_parser.value("socketcan");
-    stream = new SocketCanStream(&app, config);
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -73,24 +66,14 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
-      auto replay_stream = new ReplayStream(&app);
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
-      stream = replay_stream;
+      stream = replay_stream.release();
     }
   }
 
-  MainWindow w;
-  if (stream) {
-    stream->start();
-    if (!dbc_file.isEmpty()) {
-      w.loadFile(dbc_file);
-    }
-  } else {
-    w.openStream();
-  }
-  w.show();
-
+  MainWindow w(stream, cmd_parser.value("dbc"));
   return app.exec();
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 128c33baec3954..6c13252e80753b 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -155,11 +155,10 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
-    for (const auto &s : sigs) {
-      if (s.sig == sig && s.series->color() != sig->color) {
-        setSeriesColor(s.series, sig->color);
-      }
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
+  if (it != sigs.end()) {
+    if (it->series->color() != sig->color) {
+      setSeriesColor(it->series, sig->color);
     }
     updateTitle();
     updateSeries(sig);
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 0b948b342184f4..a9251917924eb3 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -110,7 +110,6 @@ public slots:
   QTimer *align_timer;
   int current_theme = 0;
   bool value_tip_visible_ = false;
-  friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
 };
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 0ddb212a8ad42b..63f3a7d575082e 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) {
   MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
   auto selected_items = seletedItems();
   for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(),
+                                   [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; });
     if (!is_selected) {
       addItemToList(available_list, msg_id, s);
     }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 1cadda2bd8bdc7..094fe96182777c 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -4,8 +4,6 @@
 #include <limits>
 #include <QPainter>
 
-#include "tools/cabana/streams/abstractstream.h"
-
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
 
@@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
   auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
-  if (first == last || size.isEmpty()) {
-    pixmap = QPixmap();
-    return;
-  }
-
   points.clear();
   double value = 0;
   for (auto it = first; it != last; ++it) {
@@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
     }
   }
 
-  if (points.empty()) {
+  if (points.empty() || size.isEmpty()) {
     pixmap = QPixmap();
     return;
   }
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 3bdd8a3ee52637..806f0a61ebf65a 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -5,6 +5,7 @@
 #include <vector>
 
 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class Sparkline {
 public:
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 4a1c52819a9fa7..cca9d0c0fab3f4 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
     filename = dbc_file_name;
-    // Remove auto save file extension
-    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename.chop(AUTO_SAVE_EXTENSION.length());
-    }
     parse(file.readAll());
   } else {
     throw std::runtime_error("Failed to open file.");
@@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
 }
 
 DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  // Open from clipboard
   parse(content);
 }
 
 bool DBCFile::save() {
   assert(!filename.isEmpty());
-  if (writeContents(filename)) {
-    cleanupAutoSaveFile();
-    return true;
-  }
-  return false;
+  return writeContents(filename);
 }
 
 bool DBCFile::saveAs(const QString &new_filename) {
@@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) {
   return save();
 }
 
-bool DBCFile::autoSave() {
-  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
-}
-
-void DBCFile::cleanupAutoSaveFile() {
-  if (!filename.isEmpty()) {
-    QFile::remove(filename + AUTO_SAVE_EXTENSION);
-  }
-}
-
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
@@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 20de04a861129c..bd267898f94e5b 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -5,8 +5,6 @@
 
 #include "tools/cabana/dbc/dbc.h"
 
-const QString AUTO_SAVE_EXTENSION = ".tmp";
-
 class DBCFile {
 public:
   DBCFile(const QString &dbc_file_name);
@@ -15,9 +13,7 @@ class DBCFile {
 
   bool save();
   bool saveAs(const QString &new_filename);
-  bool autoSave();
   bool writeContents(const QString &fn);
-  void cleanupAutoSaveFile();
   QString generateDBC();
 
   void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
@@ -27,7 +23,7 @@ class DBCFile {
   cabana::Msg *msg(uint32_t address);
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString name);
+  cabana::Signal *signal(uint32_t address, const QString &name);
 
   inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
   inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index bf1db63eea6307..34432707db7e8f 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -12,6 +12,7 @@
 #include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
@@ -23,9 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
-#include "tools/replay/replay.h"
 
-MainWindow::MainWindow() : QMainWindow() {
+MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
@@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
+
+  QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
+  show();
 }
 
 void MainWindow::loadFingerprints() {
@@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() {
   if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
-  // get opendbc names
-  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    opendbc_names << QFileInfo(fn).baseName();
-  }
 }
 
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream);
   close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
   export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV);
   close_stream_act->setEnabled(false);
@@ -96,20 +92,15 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+  QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus);
 
   open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
-  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i] = new QAction(this);
-    recent_files_acts[i]->setVisible(false);
-    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
-    open_recent_menu->addAction(recent_files_acts[i]);
-  }
-  updateRecentFileActions();
+  QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu);
 
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : opendbc_names) {
+  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
@@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
   messages_dock->setWidget(messages_widget);
   QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
 
   // right panel
   charts_widget = new ChartsWidget(this);
@@ -209,67 +201,52 @@ void MainWindow::createStatusBar() {
   progress_bar->setVisible(false);
   statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
-
   statusBar()->addPermanentWidget(status_label = new QLabel(this));
   updateStatus();
 }
 
 void MainWindow::createShortcuts() {
   auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
+  QObject::connect(shortcut, &QShortcut::activated, this, []() {
+    if (can) can->pause(!can->isPaused());
+  });
   // TODO: add more shortcuts here.
 }
 
-void MainWindow::undoStackIndexChanged(int index) {
-  int count = UndoStack::instance()->count();
-  if (count >= 0) {
-    QString command_text;
-    if (index == count) {
-      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
-    } else if (index < prev_undostack_index) {
-      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
-    } else if (index > prev_undostack_index) {
-      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
-    }
-    statusBar()->showMessage(command_text, 2000);
-  }
-  prev_undostack_index = index;
-  prev_undostack_count = count;
-  autoSave();
-  updateLoadSaveMenus();
-}
-
 void MainWindow::undoStackCleanChanged(bool clean) {
-  if (clean) {
-    prev_undostack_index = 0;
-    prev_undostack_count = 0;
-  }
   setWindowModified(!clean);
 }
 
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
-  updateLoadSaveMenus();
+
+  // Update file menu
+  int cnt = dbc()->nonEmptyDBCCount();
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
 }
 
-void MainWindow::openStream() {
-  AbstractStream *stream = nullptr;
-  StreamSelector dlg(&stream, this);
+void MainWindow::selectAndOpenStream() {
+  StreamSelector dlg(this);
   if (dlg.exec()) {
-    if (!dlg.dbcFile().isEmpty()) {
-      loadFile(dlg.dbcFile());
-    }
-    stream->start();
-    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+    openStream(dlg.stream(), dlg.dbcFile());
   } else if (!can) {
-    stream = new DummyStream(this);
-    stream->start();
+    openStream(new DummyStream(this));
   }
 }
 
 void MainWindow::closeStream() {
-  AbstractStream *stream = new DummyStream(this);
-  stream->start();
+  openStream(new DummyStream(this));
   if (dbc()->nonEmptyDBCCount() > 0) {
     emit dbc()->DBCFileChanged();
   }
@@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString dbc_fn = fn;
-    // Prompt user to load auto saved file if it exists.
-    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
-      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
-      if (ret == QMessageBox::Yes) {
-        dbc_fn += AUTO_SAVE_EXTENSION;
-        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
-      }
-    }
-
     QString error;
-    if (dbc()->open(s, dbc_fn, &error)) {
+    if (dbc()->open(s, fn, &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   }
 }
 
-void MainWindow::openRecentFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    loadFile(action->data().toString());
-  }
-}
-
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
-  loadFile(opendbc_file_path);
+  loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name));
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
@@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   }
 }
 
-void MainWindow::changingStream() {
+void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
-}
 
-void MainWindow::streamStarted() {
+  delete can;
+  can = stream;
+  can->setParent(this);  // take ownership
+  can->start();
+
+  loadFile(dbc_file);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
   export_to_csv_act->setEnabled(has_stream);
@@ -372,9 +338,20 @@ void MainWindow::streamStarted() {
     newFile();
   }
 
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+
+  if (has_stream) {
+    auto wait_dlg = new QProgressDialog(
+        can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."),
+        tr("&Abort"), 0, 100, this);
+    wait_dlg->setWindowModality(Qt::WindowModal);
+    wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height());
+    QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close);
+    QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater);
+    QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) {
+      wait_dlg->setValue((int)((cur / (double)total) * 100));
+    });
+  }
 }
 
 void MainWindow::eventsMerged() {
@@ -383,12 +360,8 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
-      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
-      if (dbc_name != QJsonValue::Undefined) {
-        // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
-      }
+    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
+      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
     }
   }
 }
@@ -409,22 +382,6 @@ void MainWindow::saveAs() {
   }
 }
 
-void MainWindow::autoSave() {
-  if (!UndoStack::instance()->isClean()) {
-    for (auto dbc_file : dbc()->allDBCFiles()) {
-      if (!dbc_file->filename.isEmpty()) {
-        dbc_file->autoSave();
-      }
-    }
-  }
-}
-
-void MainWindow::cleanupAutoSaveFile() {
-  for (auto dbc_file : dbc()->allDBCFiles()) {
-    dbc_file->cleanupAutoSaveFile();
-  }
-}
-
 void MainWindow::closeFile(SourceSet s) {
   remindSaveChanges();
   if (s == SOURCE_ALL) {
@@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
-    updateLoadSaveMenus();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
@@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
-    updateLoadSaveMenus();
   }
 }
 
@@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 }
 
 void MainWindow::updateLoadSaveMenus() {
-  int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
-  save_dbc->setEnabled(cnt > 0);
-  save_dbc_as->setEnabled(cnt == 1);
-
-  // TODO: Support clipboard for multiple files
-  copy_dbc_to_clipboard->setEnabled(cnt == 1);
-
   manage_dbcs_menu->clear();
-  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
 
   for (int source : can->sources) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
@@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() {
     bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
-    QString file_name = "No DBCs loaded";
-    if (auto dbc_file = dbc()->findDBCFile(source)) {
+    auto dbc_file = dbc()->findDBCFile(source);
+    if (dbc_file) {
       bus_menu->addSeparator();
       bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
@@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() {
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
-
-      file_name = dbc_file->name();
     }
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
-  }
-
-  QStringList title;
-  for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
   }
-  setWindowFilePath(title.join(" | "));
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
@@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) {
     settings.recent_files.removeLast();
   }
   settings.last_dir = QFileInfo(fn).absolutePath();
-  updateRecentFileActions();
 }
 
-void MainWindow::updateRecentFileActions() {
+void MainWindow::updateRecentFileMenu() {
+  open_recent_menu->clear();
+
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+  if (!num_recent_files) {
+    open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false);
+    return;
+  }
+
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    recent_files_acts[i]->setText(text);
-    recent_files_acts[i]->setData(settings.recent_files[i]);
-    recent_files_acts[i]->setVisible(true);
-  }
-  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i]->setVisible(false);
+    open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); });
   }
-  open_recent_menu->setEnabled(num_recent_files > 0);
 }
 
 void MainWindow::remindSaveChanges() {
@@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() {
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
-  cleanupAutoSaveFile();
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
@@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   // save states
   settings.geometry = saveGeometry();
   settings.window_state = saveState();
-  if (!can->liveStreaming()) {
+  if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 77add4d7893a2d..9bc94c090f7d71 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -20,22 +20,20 @@ class MainWindow : public QMainWindow {
   Q_OBJECT
 
 public:
-  MainWindow();
+  MainWindow(AbstractStream *stream, const QString &dbc_file);
   void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void openStream();
+  void selectAndOpenStream();
+  void openStream(AbstractStream *stream, const QString &dbc_file = {});
   void closeStream();
   void exportToCSV();
-  void changingStream();
-  void streamStarted();
 
   void newFile(SourceSet s = SOURCE_ALL);
   void openFile(SourceSet s = SOURCE_ALL);
-  void openRecentFile();
   void loadDBCFromOpendbc(const QString &name);
   void save();
   void saveAs();
@@ -55,10 +53,8 @@ public slots:
   void saveFileToClipboard(DBCFile *dbc_file);
   void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void autoSave();
-  void cleanupAutoSaveFile();
   void updateRecentFiles(const QString &fn);
-  void updateRecentFileActions();
+  void updateRecentFileMenu();
   void createActions();
   void createDockWindows();
   void createStatusBar();
@@ -70,7 +66,6 @@ public slots:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
-  void undoStackIndexChanged(int index);
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -88,10 +83,8 @@ public slots:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QStringList opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
-  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;
   QMenu *manage_dbcs_menu = nullptr;
   QMenu *tools_menu = nullptr;
@@ -101,8 +94,6 @@ public slots:
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
   QString car_fingerprint;
-  int prev_undostack_index = 0;
-  int prev_undostack_count = 0;
   QByteArray default_state;
 };
 
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 8288c801b5960c..130b76d5023144 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
+  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -617,7 +618,6 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
-  int max_value_width = 0;
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 6320b9b62154eb..4e746ea105bb11 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -135,6 +135,7 @@ class SignalView : public QFrame {
       QTreeView::leaveEvent(event);
     }
   };
+  int max_value_width = 0;
   int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index ee6a1143c8f9ad..9bf80deb98ac86 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
 AbstractStream *can = nullptr;
 
-StreamNotifier *StreamNotifier::instance() {
-  static StreamNotifier notifier;
-  return &notifier;
-}
-
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
@@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
-  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
-    emit StreamNotifier::instance()->changingStream();
-    delete can;
-    can = this;
-    emit StreamNotifier::instance()->streamStarted();
-  });
 }
 
 void AbstractStream::updateMasks() {
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 9e3f92dc5df717..7ae119bcf0cff8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -96,7 +96,6 @@ class AbstractStream : public QObject {
   void seeking(double sec);
   void seekedTo(double sec);
   void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
-  void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
@@ -133,15 +132,11 @@ class AbstractStream : public QObject {
 class AbstractOpenStreamWidget : public QWidget {
   Q_OBJECT
 public:
-  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
-  virtual bool open() = 0;
-  virtual QString title() = 0;
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual AbstractStream *open() = 0;
 
 signals:
   void enableOpenButton(bool);
-
-protected:
-  AbstractStream **stream = nullptr;
 };
 
 class DummyStream : public AbstractStream {
@@ -149,17 +144,7 @@ class DummyStream : public AbstractStream {
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
   QString routeName() const override { return tr("No Stream"); }
-  void start() override { emit streamStarted(); }
-};
-
-class StreamNotifier : public QObject {
-  Q_OBJECT
-public:
-  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
-  static StreamNotifier* instance();
-signals:
-  void streamStarted();
-  void changingStream();
+  void start() override {}
 };
 
 // A global pointer referring to the unique AbstractStream object
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 80507391a7d085..6de63dfbbc347e 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -33,13 +33,9 @@ void DeviceStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
-  return new OpenDeviceWidget(stream);
-}
-
 // OpenDeviceWidget
 
-OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
   QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
   ip_address = new QLineEdit(this);
@@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream
   zmq->setChecked(true);
 }
 
-bool OpenDeviceWidget::open() {
+AbstractStream *OpenDeviceWidget::open() {
   QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
   bool msgq = group->checkedId() == 0;
-  *stream = new DeviceStream(qApp, msgq ? "" : ip);
-  return true;
+  return new DeviceStream(qApp, msgq ? "" : ip);
 }
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
index a65f073458172c..3bdf22499868e5 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/tools/cabana/streams/devicestream.h
@@ -6,7 +6,6 @@ class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
   }
@@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenDeviceWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Device"); }
+  OpenDeviceWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *ip_address;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 6bcb1c1d549756..ac9a6fa105e766 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() {
 }
 
 void LiveStream::start() {
-  emit streamStarted();
   stream_thread->start();
   startUpdateTimer();
   begin_date_time = QDateTime::currentDateTime();
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 030783a8994673..cdf6da6d83118f 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -77,13 +77,9 @@ void PandaStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
-  return new OpenPandaWidget(stream);
-}
-
 // OpenPandaWidget
 
-OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
     form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
@@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() {
   }
 }
 
-bool OpenPandaWidget::open() {
+AbstractStream *OpenPandaWidget::open() {
   try {
-    *stream = new PandaStream(qApp, config);
-    return true;
+    return new PandaStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
 }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index ad792ec2922d28..826b1aa986b91a 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -28,7 +28,6 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Panda: %1").arg(config.serial);
   }
@@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenPandaWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Panda"); }
+  OpenPandaWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshSerials();
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 09ba3db4175dbf..1616f2aec3ef9c 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   return success;
 }
 
-void ReplayStream::start() {
-  emit streamStarted();
-  replay->start();
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
@@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) {
 }
 
 
-AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
-  return new OpenReplayWidget(stream);
-}
-
 // OpenReplayWidget
 
-OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
@@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
   });
 }
 
-bool OpenReplayWidget::open() {
+AbstractStream *OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
   if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
@@ -173,8 +164,8 @@ bool OpenReplayWidget::open() {
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
-      *stream = replay_stream.release();
+      return replay_stream.release();
     }
   }
-  return *stream != nullptr;
+  return nullptr;
 }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 217d1ac1d3a2c7..25d6ef4a72eda1 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream {
 
 public:
   ReplayStream(QObject *parent);
-  void start() override;
+  void start() override { replay->start(); }
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
@@ -31,7 +31,6 @@ class ReplayStream : public AbstractStream {
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 private:
   void mergeSegments();
@@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenReplayWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Replay"); }
+  OpenReplayWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *route_edit;
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 0f13b9901b3ad9..1346a496bb8e2d 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -66,11 +66,7 @@ void SocketCanStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
-  return new OpenSocketCanWidget(stream);
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->addStretch(1);
 
@@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() {
 }
 
 
-bool OpenSocketCanWidget::open() {
+AbstractStream *OpenSocketCanWidget::open() {
   try {
-    *stream = new SocketCanStream(qApp, config);
+    return new SocketCanStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
-  return true;
 }
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 952f1aaa5c86d8..8083b687e93b53 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   ~SocketCanStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 
   inline QString routeName() const override {
@@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenSocketCanWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&SocketCAN"); }
+  OpenSocketCanWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshDevices();
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 209b577c9ae9d8..efd00d39857a48 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -10,7 +10,7 @@
 #include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/streams/socketcanstream.h"
 
-StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
   QVBoxLayout *layout = new QVBoxLayout(this);
   tab = new QTabWidget(this);
@@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
-  addStreamWidget(ReplayStream::widget(stream));
-  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(new OpenReplayWidget, tr("&Replay"));
+  addStreamWidget(new OpenPandaWidget, tr("&Panda"));
   if (SocketCanStream::available()) {
-    addStreamWidget(SocketCanStream::widget(stream));
+    addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
-  addStreamWidget(DeviceStream::widget(stream));
+  addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
     setEnabled(false);
-    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+    if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) {
       accept();
     }
     setEnabled(true);
@@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   });
 }
 
-void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
-  tab->addTab(w, w->title());
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) {
+  tab->addTab(w, title);
   auto open_btn = btn_box->button(QDialogButtonBox::Open);
   QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }
diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h
index a702fc76ad6ed5..0919195e4ef9c0 100644
--- a/tools/cabana/streamselector.h
+++ b/tools/cabana/streamselector.h
@@ -11,11 +11,13 @@ class StreamSelector : public QDialog {
   Q_OBJECT
 
 public:
-  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
-  void addStreamWidget(AbstractOpenStreamWidget *w);
+  StreamSelector(QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title);
   QString dbcFile() const { return dbc_file->text(); }
+  AbstractStream *stream() const { return stream_; }
 
 private:
+  AbstractStream *stream_ = nullptr;
   QLineEdit *dbc_file;
   QTabWidget *tab;
   QDialogButtonBox *btn_box;

From e36ff90996ca55ae80530f9e6e436da58d0b7c89 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 10 Jul 2024 18:10:42 -0400
Subject: [PATCH 123/247] Improved PlotJuggler layout for lateral accel torque
 controller (#32949)

* improved PlotJuggler layout for lat accel controller

* help estimate steerActuatorDelay

* update Actuator Performance, add Vehicle Dynamics

* disable Y limits on actuator performance because sunny

* apply delay estimation feedback from harald

* gc extra custom series that PJ copied in

* label wordsmithing
---
 .../plotjuggler/layouts/torque-controller.xml | 231 +++++++++++++++---
 1 file changed, 192 insertions(+), 39 deletions(-)

diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index d6e4684d63a9e2..b4edfdcc181aa1 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -1,45 +1,193 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="Lateral Plan Conformance">
    <Container>
-    <DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
        <limitY/>
-       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
-       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
+     <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
        <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
        <limitY/>
-       <curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
-        <transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
-         <options time_offset="0" value_scale="-1" value_offset="0"/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" time_offset="0" value_offset="0"/>
         </transform>
        </curve>
-       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
-       <curve name="/carState/steeringPressed" color="#ff000f"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
+     <DockArea name="vehicle speed">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
        <limitY/>
-       <curve name="carState.vEgo mph" color="#d62728"/>
-       <curve name="carState.vEgo kmh" color="#1ac938"/>
-       <curve name="/carState/vEgo" color="#ff7f0e"/>
+       <curve color="#d62728" name="carState.vEgo mph"/>
+       <curve color="#1ac938" name="carState.vEgo kmh"/>
+       <curve color="#ff7f0e" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Performance">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
+       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
+       <limitY/>
+       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
+       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
+       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Vehicle Dynamics">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carParams/steerRatio"/>
+       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+      </plot>
+     </DockArea>
+     <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+       <limitY/>
+       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
+       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
+       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controller PIF Terms">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+       <limitY/>
+       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
+       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
+       <curve color="#756a6a" name="Zero"/>
+      </plot>
+     </DockArea>
+     <DockArea name="road roll angle, from openpilot localizer">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/roll"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay Estimation">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (baseline)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -57,34 +205,39 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="carState.vEgo mph">
+  <snippet name="Zero">
    <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
   </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
+  <snippet name="Actual lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
+  <snippet name="Desired lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->

From b247c3caaa5b5d503a9c1aa3336a7a206765167c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 Jul 2024 17:25:39 -0700
Subject: [PATCH 124/247] torqued: check steer override to current time
 (#32963)

* lat active/steer override: check up to now

* lint

* Update ref_commit
---
 selfdrive/locationd/torqued.py           | 7 +++++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index ba649b318dedf4..e0784eb8e6cbf4 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -177,8 +177,11 @@ def handle_log(self, t, which, msg):
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]
         roll = msg.orientationNED.value[0]
-        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
-        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
+        # check lat active up to now (without lag compensation)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                               self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                                   self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
         steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1635012f3e4eb3..13b427b8941a6e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f6ff3601bd0496e78d8bc3b019d58bb7739f096b
\ No newline at end of file
+0adff03d45c99dcfb330c48b2aa9d2093ce674a2

From 11db7b683b4ea0427c0060b48bd17ac5b61b11ff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 11 Jul 2024 02:49:42 -0700
Subject: [PATCH 125/247] hardwared: don't ignore quick ignition cycles
 (#32938)

* check on either edge

* clean up

* clean up

* good thing I tested this first :P
---
 system/hardware/hardwared.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index e3a4c81711879e..ff34d95828f2cc 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -230,8 +230,8 @@ def hardware_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
-    # Run at 2Hz, plus rising edge of ignition
-    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    # Run at 2Hz, plus either edge of ignition
+    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 

From 71dd1e2ff6768c649d3d885d30280d9ca46841a4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 11 Jul 2024 14:06:51 -0700
Subject: [PATCH 126/247] long planner: formatting

---
 .../controls/lib/longitudinal_planner.py      | 31 +++++++++----------
 1 file changed, 15 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c59955d551ed97..6a2a1570d866f1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -45,22 +45,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 def get_accel_from_plan(CP, speeds, accels):
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+  if len(speeds) == CONTROL_N:
+    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
-      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
 
-      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-    should_stop = (v_target < CP.vEgoStopping and
-                    v_target_1sec < CP.vEgoStopping)
-    return a_target, should_stop
+    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < CP.vEgoStopping and
+                 v_target_1sec < CP.vEgoStopping)
+  return a_target, should_stop
 
 
 class LongitudinalPlanner:
@@ -82,8 +81,8 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
+      len(model_msg.velocity.x) == ModelConstants.IDX_N and
+      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)

From e3e54fb28bad2e4848d9f3a510be8a45d9bd6ffa Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 01:38:07 +0800
Subject: [PATCH 127/247] cabana: fix wrong file path handling for recent files
 menu (#32969)

fix lambda
---
 tools/cabana/mainwin.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 34432707db7e8f..ee8f42ea727dac 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -487,7 +487,7 @@ void MainWindow::updateRecentFileMenu() {
 
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); });
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
   }
 }
 

From 2156870df991bf6231121460810b0edcde74137b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:20:49 +0800
Subject: [PATCH 128/247] pandad: remove return statement in constructor
 (#32975)

remove return
---
 selfdrive/pandad/panda.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index a404ad3880662d..fcb4ac67a41279 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 
   hw_type = get_hw_type();
   can_reset_communications();
-
-  return;
 }
 
 bool Panda::connected() {

From 122a7f2f0f6b0db435118e7f3e997c1528c8d8aa Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sat, 13 Jul 2024 02:32:04 +0300
Subject: [PATCH 129/247] start for `curl openpilot.comma.ai | bash` (#32967)

* initial setup.sh for curl|bash

* --single-branch for faster pull and some final instructions

* fix git lfs pull
---
 tools/setup.sh | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100755 tools/setup.sh

diff --git a/tools/setup.sh b/tools/setup.sh
new file mode 100755
index 00000000000000..22d10be80b7dec
--- /dev/null
+++ b/tools/setup.sh
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ ! -f launch_openpilot.sh ]; then
+  if [ ! -d openpilot ]; then
+    git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git
+  fi
+  cd openpilot
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  tools/mac_setup.sh
+else
+  tools/ubuntu_setup.sh
+fi
+
+git lfs pull
+
+source .venv/bin/activate
+
+echo "Building openpilot"
+scons -u -j$(nproc)
+
+echo
+echo "----   OPENPILOT BUILDING DONE   ----"
+echo "To push changes to your fork, run the following commands:"
+echo "git remote remove origin"
+echo "git remote add origin git@github.com:<YOUR_USERNAME>/openpilot.git"
+echo "git fetch"
+echo "git commit -m \"first commit\""
+echo "git push"

From f1416f337cbf40c11de88903e13177f9f54dc544 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:42:10 +0800
Subject: [PATCH 130/247] replay: update README (#32966)

update README
---
 tools/replay/README.md | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index 91e89176a2960c..bf7280ae80acef 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -34,10 +34,21 @@ Options:
   -h, --help             Displays this help.
   -a, --allow <allow>    whitelist of services to send
   -b, --block <block>    blacklist of services to send
+  -c, --cache <n>        cache <n> segments in memory. default is 5
   -s, --start <seconds>  start from <seconds>
+  -x <speed>             playback <speed>. between 0.2 - 3
   --demo                 use a demo route instead of providing your own
+  --data_dir <data_dir>  local directory with routes
+  --prefix <prefix>      set OPENPILOT_PREFIX
   --dcam                 load driver camera
   --ecam                 load wide road camera
+  --no-loop              stop at the end of the route
+  --no-cache             turn off local cache
+  --qcam                 load qcamera
+  --no-hw-decoder        disable HW video decoding
+  --no-vipc              do not output video
+  --all                  do output all messages including uiDebug, userFlag.
+                         this may causes issues when used along with UI
 
 Arguments:
   route                  the drive to replay. find your drives at

From 32a5cfd84c804b671c54688120265b436610d7a9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:42:45 +0800
Subject: [PATCH 131/247] cabana: update README (#32965)

improve README
---
 tools/cabana/README.md | 70 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 69 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 53723ef8a6c342..dbbdd8020ccbf1 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -29,4 +29,72 @@ Arguments:
                                  connect.comma.ai
 ```
 
-See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+## Examples
+
+### Running Cabana in Demo Mode
+To run Cabana using a built-in demo route, use the following command:
+
+```shell
+cabana --demo
+```
+
+### Loading a Specific Route
+
+To load a specific route for replay, provide the route as an argument:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+```
+
+Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+
+
+### Running Cabana with multiple cameras
+To run Cabana with multiple cameras, use the following command:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+```
+
+### Streaming CAN Messages from a comma Device
+
+[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
+
+```shell
+cd /data/openpilot/cereal/messaging/
+./bridge &
+```
+
+Then Run Cabana with the device's IP address:
+
+```shell
+cabana --stream <ipaddress>
+```
+
+Replace &lt;ipaddress&gt; with your comma device's IP address.
+
+While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
+
+After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
+
+### Streaming CAN Messages from Panda
+
+To read CAN messages from a connected Panda, use the following command:
+
+```shell
+cabana --panda
+```
+
+### Using the Stream Selector Dialog
+
+If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
+
+```shell
+cabana
+```
+
+## Additional Information
+
+For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+
+If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
\ No newline at end of file

From 0f34e6e3b6e3627416129c34e4b9ff463d87c2ac Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Sat, 13 Jul 2024 07:44:22 +0800
Subject: [PATCH 132/247] PC: added missing hexdump package for
 selfdrive/debug/dump.py (#32959)

added missing hexdump package
---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 0f5d9aa1cc13d1..82f9c563bde729 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -115,6 +115,7 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
+  "hexdump",
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
diff --git a/uv.lock b/uv.lock
index 2797eee62fb08d..57f8d9d7ee706a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -766,6 +766,12 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a8/4d/3cbfd81ed84db450dbe73a89afcd8bc405273918415649ac6683356afe92/gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e", size = 953939 },
 ]
 
+[[distribution]]
+name = "hexdump"
+version = "3.3"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/55/b3/279b1d57fa3681725d0db8820405cdcb4e62a9239c205e4ceac4391c78e4/hexdump-3.3.zip", hash = "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db", size = 12658 }
+
 [[distribution]]
 name = "humanfriendly"
 version = "10.0"
@@ -1537,6 +1543,7 @@ dev = [
     { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
+    { name = "hexdump" },
     { name = "inputs" },
     { name = "lru-dict" },
     { name = "matplotlib" },

From 50f55684a2a6b04bb744e7af1b8efbd26ac114be Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sat, 13 Jul 2024 02:44:52 +0300
Subject: [PATCH 133/247] Rewrite git history update (#32955)

Rewrite git history final touches
---
 scripts/git_rewrite/rewrite-git-history.sh | 119 +++++++++++++--------
 1 file changed, 76 insertions(+), 43 deletions(-)

diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
index 4130b55db9ac3f..5a97e6bbad0e72 100755
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -1,15 +1,40 @@
-#!/bin/bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
+#!/bin/bash -e
 
 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
 OUT=/tmp/openpilot-tiny/
 
-LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt
-exec > >(tee -a "$LOG_FILE") 2>&1
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
 
 # INSTALL git-filter-repo
 if [ ! -f /tmp/git-filter-repo ]; then
@@ -40,7 +65,7 @@ if [ ! -d $SRC ]; then
   git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
   git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
   # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
 fi
 
 # REWRITE master and tags
@@ -52,7 +77,7 @@ if [ ! -d $SRC_CLONE ]; then
 
   echo "Checking out old history..."
 
-  git checkout tags/v0.7.1
+  git checkout tags/v0.7.1 > /dev/null 2>&1
   # checkout as main, since we need master ref later
   git checkout -b main
 
@@ -60,22 +85,26 @@ if [ ! -d $SRC_CLONE ]; then
 
   # rm these so we don't get conflicts later
   git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files"
+  git commit -m "removed conflicting files" > /dev/null
 
   # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
   # we don't care about fetching/pushing lfs right now
   git lfs install --skip-smudge --local
 
   # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)"
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
 
   # get commits we want to cherry-pick
   # will start with the next commit after #59b3d06 tools is local now
   COMMITS=$(git rev-list --reverse 59b3d06..master)
 
   # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w)
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
   CURRENT_COMMIT_NUMBER=0
 
   # empty this file
@@ -85,7 +114,8 @@ if [ ! -d $SRC_CLONE ]; then
 
   for COMMIT in $COMMITS; do
       CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
 
       # set environment variables to preserve author/committer and dates
       export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
@@ -119,6 +149,12 @@ if [ ! -d $SRC_CLONE ]; then
         # append the old commit ID to the commit message
         git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
       fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
   done
 
   echo "Rewriting tags..."
@@ -137,7 +173,7 @@ if [ ! -d $SRC_CLONE ]; then
       NEW_COMMIT=$OLD_COMMIT
     fi
 
-    printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT"
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
     git tag -f "$TAG" "$NEW_COMMIT"
   done < "$DIR/tag-commit-map.txt"
 
@@ -153,19 +189,20 @@ if [ ! -d $SRC_CLONE ]; then
 fi
 
 # REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
   cd $SRC_CLONE
+  > rewrite-branches-done
 
   # empty file
-  > branch-diff.txt
+  > $BRANCH_DIFF_LOG
 
   echo "Rewriting branches based on master..."
 
   # will store raw diffs here, if exist
   mkdir -p differences
 
-  # get a list of all branches except master
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$')
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
 
   for BRANCH in $BRANCHES; do
     # check if the branch is based on master history
@@ -176,7 +213,7 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
       # create a new branch based on the new master
       NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
       if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
         continue
       fi
       git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
@@ -208,8 +245,8 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
             echo "$COMMIT EMPTY" >> commit-map.txt
           else
             # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt
-            echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}"
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
             git cherry-pick --abort
             git push --delete origin ${BRANCH}
             HAS_ERROR=1
@@ -239,28 +276,24 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
       git checkout master > /dev/null
       git branch -D ${BRANCH}_new > /dev/null
     else
-      # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       git push --delete origin ${BRANCH}
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
     fi
   done
 fi
 
 # VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
   cd $SRC_CLONE
+  > validation-done
 
   TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
   CURRENT_COMMIT_NUMBER=0
   COUNT_SAME=0
   COUNT_DIFF=0
-  VALIDATE_IGNORE_FILES=(
-    ".github/ISSUE_TEMPLATE/bug_report.md"
-    ".github/pull_request_template.md"
-  )
 
   # empty file
-  > commit-diff.txt
+  > $COMMIT_DIFF_LOG
 
   echo "Validating commits..."
 
@@ -273,7 +306,7 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
       continue
     fi
     if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
       continue
     fi
     CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
@@ -283,7 +316,8 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
     OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
     NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
 
-    echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
     
     # generate lists of files and their hashes for the old and new commits, excluding ignored files
     OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
@@ -294,17 +328,17 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
       # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
       COUNT_SAME=$((COUNT_SAME + 1))
     else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
       COUNT_DIFF=$((COUNT_DIFF + 1))
       set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
       set -e
     fi
   done < "commit-map.txt"
 
-  echo "Summary:" >> commit-diff.txt
-  echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt
-  echo "Different commits: $COUNT_DIFF" >> commit-diff.txt
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
 fi
 
 if [ ! -d $OUT ]; then
@@ -313,7 +347,6 @@ if [ ! -d $OUT ]; then
   cd $OUT
 
   # remove all non-master branches
-  # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*)
   # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
 
   # echo "cleaning up refs"
@@ -322,7 +355,8 @@ if [ ! -d $OUT ]; then
 
   echo "importing new lfs files"
   # import "almost" everything to lfs
-  git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
 
   echo "reflog and gc"
   # this is needed after lfs import
@@ -351,7 +385,6 @@ git lfs fetch --all || true
 
 # final push - will also push lfs
 # TODO: switch to git@github.com:commaai/openpilot.git when ready
-# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2)
 # git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

From 953e5667b1dce769611e742622e3612b0b09d9f4 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 12 Jul 2024 17:07:57 -0700
Subject: [PATCH 134/247] Re-use "is_metric" declaration (#32948)

---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index b08420a71309e1..60f2380dc5c16b 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -31,11 +31,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
 
+  is_metric = s.scene.is_metric;
+
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !s.scene.is_metric) {
+  if (is_cruise_set && !is_metric) {
     setSpeed *= KM_TO_MILE;
   }
 
@@ -43,10 +45,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
   float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  is_metric = s.scene.is_metric;
-  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   status = s.status;
 

From 75b07c042f09f39275452df84c5dfd46e2f4e7f0 Mon Sep 17 00:00:00 2001
From: savojovic <74861870+savojovic@users.noreply.github.com>
Date: Sat, 13 Jul 2024 22:36:21 +0200
Subject: [PATCH 135/247] Replace ui.py with a Rerun visualizer (#32850)

* Replace ui.py with rerun

* Visualizing radarpoints

* Visualizing all points

* Code clean-up

* Merging matrices into one

* Removing pygame depndency

* Replacing ui.py with rp_visualization.py

* Minor fix, changing color names

* Update README.md
---
 tools/replay/README.md           |   6 +-
 tools/replay/lib/rp_helpers.py   | 108 ++++++++++++++
 tools/replay/lib/ui_helpers.py   | 231 ------------------------------
 tools/replay/rp_visualization.py |  59 ++++++++
 tools/replay/ui.py               | 238 -------------------------------
 5 files changed, 171 insertions(+), 471 deletions(-)
 create mode 100644 tools/replay/lib/rp_helpers.py
 delete mode 100644 tools/replay/lib/ui_helpers.py
 create mode 100755 tools/replay/rp_visualization.py
 delete mode 100755 tools/replay/ui.py

diff --git a/tools/replay/README.md b/tools/replay/README.md
index bf7280ae80acef..122af7152162aa 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -19,8 +19,10 @@ tools/replay/replay --demo
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
 
-# or try out a debug visualizer:
-python replay/ui.py
+# or try out radar point visualization in Rerun:
+python replay/rp_visualization.py
+
+# NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```
 
 ## usage
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
new file mode 100644
index 00000000000000..95eef9d233da30
--- /dev/null
+++ b/tools/replay/lib/rp_helpers.py
@@ -0,0 +1,108 @@
+import numpy as np
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+# Color palette used for rerun AnnotationContext
+rerunColorPalette = [(96, "red", (255, 0, 0)),
+                     (100, "pink", (255, 36, 0)),
+                     (124, "yellow", (255, 255, 0)),
+                     (230, "vibrantpink", (255, 36, 170)),
+                     (240, "orange", (255, 146, 0)),
+                     (255, "white", (255, 255, 255)),
+                     (110, "carColor", (255,0,127))]
+
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = rerunColorPalette[6][0]
+UP = UIParams
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, lid_overlay, lid_color=None):
+  x, y = np.asarray(path.x), np.asarray(path.y)
+  # draw lidar path point on lidar
+  if lid_color is not None and lid_overlay is not None:
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        lid_overlay[px, py] = lid_color
+
+
+def plot_model(m, lid_overlay):
+  if lid_overlay is None:
+    return
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
+
+  for path in m.laneLines:
+    draw_path(path, lid_overlay, rerunColorPalette[2][0])
+  for edge in m.roadEdges:
+    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
+  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
+
+
+def plot_lead(rs, lid_overlay):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      if pt[-1]:
+        color = rerunColorPalette[4][0]
+      elif pt[-2]:
+        color = rerunColorPalette[3][0]
+      else:
+        color = rerunColorPalette[5][0]
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
deleted file mode 100644
index 11b5182a6b02f2..00000000000000
--- a/tools/replay/lib/ui_helpers.py
+++ /dev/null
@@ -1,231 +0,0 @@
-import itertools
-from typing import Any
-
-import matplotlib.pyplot as plt
-import numpy as np
-import pygame
-
-from matplotlib.backends.backend_agg import FigureCanvasAgg
-
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-
-RED = (255, 0, 0)
-GREEN = (0, 255, 0)
-BLUE = (0, 0, 255)
-YELLOW = (255, 255, 0)
-BLACK = (0, 0, 0)
-WHITE = (255, 255, 255)
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = 110
-UP = UIParams
-
-METER_WIDTH = 20
-
-class Calibration:
-  def __init__(self, num_px, rpy, intrinsic, calib_scale):
-    self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = calib_scale
-
-  def car_space_to_ff(self, x, y, z):
-    car_space_projective = np.column_stack((x, y, z)).T
-
-    ep = self.extrinsics_matrix.dot(car_space_projective)
-    kep = self.intrinsic.dot(ep)
-    return (kep[:-1, :] / kep[-1, :]).T
-
-  def car_space_to_bb(self, x, y, z):
-    pts = self.car_space_to_ff(x, y, z)
-    return pts / self.zoom
-
-
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
-def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
-  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
-  pts = calibration.car_space_to_bb(x, y, z)
-  pts = np.round(pts).astype(int)
-
-  # draw lidar path point on lidar
-  # find color in 8 bit
-  if lid_color is not None and top_down is not None:
-    tcolor = find_color(top_down[0], lid_color)
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        top_down[1][px, py] = tcolor
-
-  height, width = img.shape[:2]
-  for x, y in pts:
-    if 1 < x < width - 1 and 1 < y < height - 1:
-      for a, b in itertools.permutations([-1, 0, -1], 2):
-        img[y + a, x + b] = color
-
-
-def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
-
-  dpi = 90
-  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
-  canvas = FigureCanvasAgg(fig)
-
-  fig.set_facecolor((0.2, 0.2, 0.2))
-
-  axs = []
-  for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
-    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
-    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
-    ax.patch.set_facecolor((0.4, 0.4, 0.4))
-    axs.append(ax)
-
-  plots, idxs, plot_select = [], [], []
-  for i, pl_list in enumerate(plot_names):
-    for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
-      plots.append(plot)
-      idxs.append(name_to_arr_idx[item])
-      plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
-    axs[i].tick_params(axis="x", colors="white")
-    axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
-
-    if i < len(plot_ylims) - 1:
-      axs[i].set_xticks([])
-
-  canvas.draw()
-
-  def draw_plots(arr):
-    for ax in axs:
-      ax.draw_artist(ax.patch)
-    for i in range(len(plots)):
-      plots[i].set_ydata(arr[:, idxs[i]])
-      axs[plot_select[i]].draw_artist(plots[i])
-
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
-
-  return draw_plots
-
-
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
-def plot_model(m, img, calibration, top_down):
-  if calibration is None or top_down is None:
-    return
-
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
-
-  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
-    color = (0, int(255 * prob), 0)
-    draw_path(path, color, img, calibration, top_down, YELLOW)
-
-  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
-    prob = max(1 - std, 0)
-    color = (int(255 * prob), 0, 0)
-    draw_path(edge, color, img, calibration, top_down, RED)
-
-  color = (255, 0, 0)
-  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
-
-
-def plot_lead(rs, top_down):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
-
-
-def maybe_update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = 240
-      elif pt[-2]:
-        color = 230
-      else:
-        color = 255
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
new file mode 100755
index 00000000000000..853a83c1503d0f
--- /dev/null
+++ b/tools/replay/rp_visualization.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+import numpy as np
+import rerun as rr
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
+                                         get_blank_lid_overlay,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+UP.lidar_zoom = 6
+
+def visualize(addr):
+  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+    new_data = vipc_client.recv()
+    if new_data is None or not new_data.data.any():
+      continue
+
+    sm.update(0)
+    lid_overlay = get_blank_lid_overlay(UP)
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], lid_overlay)
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], lid_overlay)
+    liveTracksTime = sm.logMonoTime['liveTracks']
+    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    rr.set_time_nanos("TIMELINE", liveTracksTime)
+    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+  rr.init("RadarPoints", spawn= True)
+  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
+  visualize(args.ip_address)
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
deleted file mode 100755
index b1fe70ef3cb365..00000000000000
--- a/tools/replay/ui.py
+++ /dev/null
@@ -1,238 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-
-import cv2
-import numpy as np
-import pygame
-
-import cereal.messaging as messaging
-from openpilot.common.numpy_fast import clip
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-ANGLE_SCALE = 5.0
-
-def ui_thread(addr):
-  cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
-
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
-
-  hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
-
-  if hor_mode:
-    size = (640+384+640, 960)
-    write_x = 5
-    write_y = 680
-  else:
-    size = (640+384, 960+300)
-    write_x = 645
-    write_y = 970
-
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
-
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
-
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
-
-  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
-  num_px = 0
-  calibration = None
-
-  lid_overlay_blank = get_blank_lid_overlay(UP)
-
-  # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
-
-  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
-
-  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
-
-  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
-
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
-
-    screen.fill((64, 64, 64))
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      continue
-
-    sm.update(0)
-
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
-
-    w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrStateDEPRECATED':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
-    elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
-    else:
-      angle_steers_k = np.inf
-
-    plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
-    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
-    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
-    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
-
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], img, calibration, top_down)
-
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], top_down)
-
-    # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'], top_down[1])
-
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
-
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
-
-    # display alerts
-    alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
-
-    if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
-    else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
-
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
-
-    SPACING = 25
-
-    lines = [
-      info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
-      None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
-    ]
-
-    for i, line in enumerate(lines):
-      if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
-
-    # this takes time...vsync or something
-    pygame.display.flip()
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
-
-  ui_thread(args.ip_address)

From e7388c3743242938d07694864f8db011c00554df Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 13 Jul 2024 13:41:38 -0700
Subject: [PATCH 136/247] remove pygame (#32981)

---
 pyproject.toml |   1 -
 uv.lock        | 481 ++++++++++++++++++++++++-------------------------
 2 files changed, 240 insertions(+), 242 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 82f9c563bde729..13800fc1c541a6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -107,7 +107,6 @@ dev = [
   "parameterized >=0.8, <0.9",
   #pprofile = "*"
   "pyautogui",
-  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pywinctl",
   "pyprof2calltree",
diff --git a/uv.lock b/uv.lock
index 57f8d9d7ee706a..873d388808d209 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,6 @@ requires-python = ">=3.11"
 name = "aiohttp"
 version = "3.9.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 dependencies = [
     { name = "aiosignal" },
     { name = "attrs" },
@@ -13,6 +12,7 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/67/f5/aa23d04a1bb57e5f51108a6473964a2618cc83e608e23e3543031aa2bb3a/aiohttp-3.9.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e0ae53e33ee7476dd3d1132f932eeb39bf6125083820049d06edcdca4381f342", size = 599387 },
     { url = "https://files.pythonhosted.org/packages/97/e7/575ca16871071313a7a7a03fa055f0c3d52f77eb8583b373ac17fc87ec15/aiohttp-3.9.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c088c4d70d21f8ca5c0b8b5403fe84a7bc8e024161febdd4ef04575ef35d474d", size = 402427 },
@@ -50,11 +50,11 @@ wheels = [
 name = "aioice"
 version = "0.9.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 dependencies = [
     { name = "dnspython" },
     { name = "ifaddr" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/b6/35/d21e48d3ba25d32aba5d142d54c4491376c659dd74d052a30dd25198007b/aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e", size = 24177 },
 ]
@@ -63,7 +63,6 @@ wheels = [
 name = "aiortc"
 version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 dependencies = [
     { name = "aioice" },
     { name = "av" },
@@ -74,6 +73,7 @@ dependencies = [
     { name = "pylibsrtp" },
     { name = "pyopenssl" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/93/01/db89910fc4dfb72ca25fd9a41326762a490d93d39d2fc4aac3f86c05857d/aiortc-1.9.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e3e67c1970c2cffacac53c8f161df264efc62b22721c64a621940935028ee087", size = 1216069 },
     { url = "https://files.pythonhosted.org/packages/4c/6d/76ed96521080492c7264eacf73a8cba2202f1ff9f59af1776c5a2532f332/aiortc-1.9.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:d893cb3d4ffa0ff4f9bb03a88f0a700cdbcd4c0dc060a46c59a27ccd1c890663", size = 896012 },
@@ -88,10 +88,10 @@ wheels = [
 name = "aiosignal"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 dependencies = [
     { name = "frozenlist" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
 ]
@@ -138,12 +138,12 @@ wheels = [
 name = "azure-core"
 version = "1.30.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
 dependencies = [
     { name = "requests" },
     { name = "six" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/ef/d7/69d53f37733f8cb844862781767aef432ff3152bc9b9864dc98c7e286ce9/azure_core-1.30.2-py3-none-any.whl", hash = "sha256:cf019c1ca832e96274ae85abd3d9f752397194d9fea3b41487290562ac8abe4a", size = 194253 },
 ]
@@ -152,7 +152,6 @@ wheels = [
 name = "azure-identity"
 version = "1.17.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 }
 dependencies = [
     { name = "azure-core" },
     { name = "cryptography" },
@@ -160,6 +159,7 @@ dependencies = [
     { name = "msal-extensions" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/49/83/a777861351e7b99e7c84ff3b36bab35e87b6e5d36e50b6905e148c696515/azure_identity-1.17.1-py3-none-any.whl", hash = "sha256:db8d59c183b680e763722bfe8ebc45930e6c57df510620985939f7f3191e0382", size = 173229 },
 ]
@@ -168,13 +168,13 @@ wheels = [
 name = "azure-storage-blob"
 version = "12.20.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1b/0f/86cdaec4be486d12fd5bd2c56e835492a58d3bcd4915d24473e889b70f2c/azure-storage-blob-12.20.0.tar.gz", hash = "sha256:eeb91256e41d4b5b9bad6a87fd0a8ade07dd58aa52344e2c8d2746e27a017d3b", size = 551196 }
 dependencies = [
     { name = "azure-core" },
     { name = "cryptography" },
     { name = "isodate" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/1b/0f/86cdaec4be486d12fd5bd2c56e835492a58d3bcd4915d24473e889b70f2c/azure-storage-blob-12.20.0.tar.gz", hash = "sha256:eeb91256e41d4b5b9bad6a87fd0a8ade07dd58aa52344e2c8d2746e27a017d3b", size = 551196 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/15/19/2be26569e708cb618feecd7316ee0c5475273f7cdb4f9030a862870c74c8/azure_storage_blob-12.20.0-py3-none-any.whl", hash = "sha256:de6b3bf3a90e9341a6bcb96a2ebe981dffff993e9045818f6549afea827a52a9", size = 392162 },
 ]
@@ -192,11 +192,11 @@ wheels = [
 name = "breathe"
 version = "4.35.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
 dependencies = [
     { name = "docutils" },
     { name = "sphinx" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/eb/61/faddc25913de74e60e175bcfd962ec83532653c5895c0a06a83a6b5bbf3d/breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be", size = 92955 },
 ]
@@ -205,10 +205,10 @@ wheels = [
 name = "casadi"
 version = "3.6.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5a/97/ca40c4d7d36162ddfd0bb96a89206469a95b925faf67046ba6e4b5b78283/casadi-3.6.5.tar.gz", hash = "sha256:409a5f6725eadea40fddfb8ba2321139b5252edac8bc115a72f68e648631d56a", size = 5070590 }
 dependencies = [
     { name = "numpy" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/5a/97/ca40c4d7d36162ddfd0bb96a89206469a95b925faf67046ba6e4b5b78283/casadi-3.6.5.tar.gz", hash = "sha256:409a5f6725eadea40fddfb8ba2321139b5252edac8bc115a72f68e648631d56a", size = 5070590 }
 wheels = [
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@@ -272,10 +272,10 @@ wheels = [
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 dependencies = [
     { name = "pycparser" },
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 source = { registry = "https://pypi.org/simple" }
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 dependencies = [
     { name = "mpmath" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/41/8a/0d1bbd33cd3091c913d298746e56f40586fa954788f51b816c6336424675/sympy-1.12.1.tar.gz", hash = "sha256:2877b03f998cd8c08f07cd0de5b767119cd3ef40d09f41c30d722f6686b0fb88", size = 6722359 }
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@@ -5313,10 +5312,10 @@ wheels = [
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 source = { registry = "https://pypi.org/simple" }
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 dependencies = [
     { name = "colorama", marker = "platform_system == 'Windows'" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/5a/c0/b7599d6e13fe0844b0cda01b9aaef9a0e87dbb10b06e4ee255d3fa1c79a2/tqdm-4.66.4.tar.gz", hash = "sha256:e4d936c9de8727928f3be6079590e97d9abfe8d39a590be678eb5919ffc186bb", size = 169392 }
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@@ -5325,10 +5324,10 @@ wheels = [
 name = "types-requests"
 version = "2.32.0.20240622"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cf/99/ab96b7a68b26bbcff2865d0aa71bf6a895f04397a303dc027f96c58c4a58/types-requests-2.32.0.20240622.tar.gz", hash = "sha256:ed5e8a412fcc39159d6319385c009d642845f250c63902718f605cd90faade31", size = 17675 }
 dependencies = [
     { name = "urllib3" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/cf/99/ab96b7a68b26bbcff2865d0aa71bf6a895f04397a303dc027f96c58c4a58/types-requests-2.32.0.20240622.tar.gz", hash = "sha256:ed5e8a412fcc39159d6319385c009d642845f250c63902718f605cd90faade31", size = 17675 }
 wheels = [
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@@ -5373,12 +5372,12 @@ wheels = [
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 version = "20.26.3"
 source = { registry = "https://pypi.org/simple" }
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 dependencies = [
     { name = "distlib" },
     { name = "filelock" },
     { name = "platformdirs" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
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@@ -5420,12 +5419,12 @@ wheels = [
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 dependencies = [
     { name = "importlib-metadata" },
     { name = "platformdirs" },
     { name = "tomli" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 }
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@@ -5434,11 +5433,11 @@ wheels = [
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 version = "1.9.4"
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 dependencies = [
     { name = "idna" },
     { name = "multidict" },
 ]
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From 7ed3f62f0c4fcd43f8f8251e3aec47e77da3f6c7 Mon Sep 17 00:00:00 2001
From: pantew869 <173707415+pantew869@users.noreply.github.com>
Date: Sun, 14 Jul 2024 17:35:24 +0300
Subject: [PATCH 137/247] Bump submodules that used numpy-stubs in pre-commit
 config (#32983)

update submodules that used numpy-stubs in pre-commit config
---
 body         | 2 +-
 panda        | 2 +-
 rednose_repo | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/body b/body
index 0e74db67ae6aaa..c433da944f0e4d 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
+Subproject commit c433da944f0e4d974cd66601effa66a06355debe
diff --git a/panda b/panda
index 376408bb4f6706..481d2bec595b64 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 376408bb4f6706b682eb6d607bedd14958665084
+Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b
diff --git a/rednose_repo b/rednose_repo
index 72b3479bababc6..023a6195dbfc2f 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
+Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0

From cbee4421da690fa7b260f62c4a2c72ccacc6c902 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 14 Jul 2024 15:56:44 -0700
Subject: [PATCH 138/247] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 481d2bec595b64..b4e3d5cdd2dec2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b
+Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d

From c759fe900276a6e622b51302fb9897e590edf3fd Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Mon, 15 Jul 2024 09:01:51 -0600
Subject: [PATCH 139/247] CI: fix ui report directory  (#32991)

fix report artifact name
---
 .github/workflows/selfdrive_tests.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 419c47208401e8..8968b493cf4083 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -335,8 +335,8 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number }}
-          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+          name: report-${{ inputs.run_number || '1' }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }}
       - name: Get changes to selfdrive/ui
         if: ${{ github.event_name == 'pull_request' }}
         id: changed-files
@@ -359,7 +359,7 @@ jobs:
           git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
-          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* .
           git add .
           git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
           git push origin openpilot/pr-${{ github.event.pull_request.number }} --force

From dd2787b7a1f2ebb6f71eb3a667848db6caa9963c Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 15 Jul 2024 10:29:57 -0700
Subject: [PATCH 140/247] [bot] Update Python packages and pre-commit hooks
 (#32990)

* Update Python packages and pre-commit hooks

* fix ruff

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 .pre-commit-config.yaml                       |   4 +-
 .../sim/bridge/metadrive/metadrive_process.py |   2 +-
 uv.lock                                       | 217 ++++++++++--------
 3 files changed, 121 insertions(+), 102 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fd27ad4852e057..6aa2a065ac1c65 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.1
+    rev: v0.5.2
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -93,6 +93,6 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.0
     hooks:
     -   id: check-github-workflows
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 38c13a14345b77..2486d87ff997cb 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -89,7 +89,7 @@ def get_cam_as_rgb(cam):
     cam.get_cam().setPos(C3_POSITION)
     cam.get_cam().setHpr(C3_HPR)
     img = cam.perceive(to_float=False)
-    if type(img) != np.ndarray:
+    if not isinstance(img, np.ndarray):
       img = img.get() # convert cupy array to numpy
     return img
 
diff --git a/uv.lock b/uv.lock
index 873d388808d209..b0ba09ca3c7af9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -437,31 +437,31 @@ wheels = [
 
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+sdist = { url = "https://files.pythonhosted.org/packages/5e/9e/7663eb27c33568b8fc20ccdaf2a1ce53a9530c42a7cceb9f552a6ff4a1d8/types-requests-2.32.0.20240712.tar.gz", hash = "sha256:90c079ff05e549f6bf50e02e910210b98b8ff1ebdd18e19c873cd237737c1358", size = 17896 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/8f/d0/409f7b40f9c34896b153c911d442c6e8d0f78035ddbfa387183aec5aa8c5/types_requests-2.32.0.20240622-py3-none-any.whl", hash = "sha256:97bac6b54b5bd4cf91d407e62f0932a74821bc2211f22116d9ee1dd643826caf", size = 15784 },
+    { url = "https://files.pythonhosted.org/packages/30/4d/cbed87a6912fbd9259ce23a5d4aa1de9816edf75eec6ed9a757c00906c8e/types_requests-2.32.0.20240712-py3-none-any.whl", hash = "sha256:f754283e152c752e46e70942fa2a146b5bc70393522257bb85bd1ef7e019dcc3", size = 15816 },
 ]
 
 [[distribution]]

From 83d4623590f87dcb7df2b458a8814d5ad6ea711b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 16 Jul 2024 02:12:24 +0800
Subject: [PATCH 141/247] selfdrive/car: ban imports from external modules
 (#32973)

* lint import

* Update selfdrive/car/__init__.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 .importlinter                                 | 36 +++++++++++++++++++
 .pre-commit-config.yaml                       |  7 ++++
 pyproject.toml                                |  1 +
 selfdrive/car/__init__.py                     |  1 +
 selfdrive/car/body/carcontroller.py           |  2 +-
 selfdrive/car/body/interface.py               |  3 +-
 selfdrive/car/card.py                         |  3 +-
 selfdrive/car/chrysler/carcontroller.py       |  3 +-
 selfdrive/car/gm/carcontroller.py             |  3 +-
 selfdrive/car/honda/carcontroller.py          |  2 +-
 selfdrive/car/hyundai/carcontroller.py        |  3 +-
 selfdrive/car/interfaces.py                   |  3 +-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_lateral_limits.py    |  2 +-
 selfdrive/car/tests/test_models.py            |  5 ++-
 selfdrive/car/toyota/carstate.py              |  2 +-
 selfdrive/car/volkswagen/carcontroller.py     |  3 +-
 selfdrive/controls/controlsd.py               |  3 +-
 selfdrive/controls/lib/drive_helpers.py       |  2 +-
 selfdrive/controls/lib/events.py              |  2 +-
 selfdrive/controls/lib/latcontrol.py          |  2 +-
 selfdrive/controls/lib/longcontrol.py         |  2 +-
 selfdrive/controls/radard.py                  |  3 +-
 .../controls/tests/test_state_machine.py      |  2 +-
 selfdrive/debug/cycle_alerts.py               |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 tools/replay/can_replay.py                    |  3 +-
 27 files changed, 73 insertions(+), 32 deletions(-)
 create mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
new file mode 100644
index 00000000000000..3cb9e6b471c94e
--- /dev/null
+++ b/.importlinter
@@ -0,0 +1,36 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6aa2a065ac1c65..ab9ce08c7a86a5 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,3 +96,10 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index 13800fc1c541a6..e9c999400de0b1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,6 +73,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
+  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4a1df550d055f4..6f3bde7f0c26c3 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,6 +11,7 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 259126c416deed..c45dc7f0d2d964 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f797a7ecf8143e..50564d3ed806f2 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d9ee020ba493b1..37f51b9abaf3b5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,9 +9,10 @@
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 85f53f68eb4f57..c9e7e2c9ed4f05 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b204d3b80ff0bf..013e72ad0be221 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index fe023ea17d714e..66bd50048581c5 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4038ddcca9088b..3d7768a83b6037 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 54070284e4750f..9f1b650158e1b7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,8 +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 DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index bb97ac8a9ad7e0..4ca19f019e6df0 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,8 +6,7 @@
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index e61d197f4b7085..24eac01fcd9739 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b5d75e665b0582..02e99f0b821efa 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,14 +12,13 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a596881c33d985..e02293da4e1f29 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index a4e0c8946ae10f..8e8652d3bec8c1 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,8 +2,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 583cbaea1f63e1..df84fc718e2e21 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -15,9 +15,10 @@
 from openpilot.common.git import get_short_branch
 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.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cfc6374a1d1faf..a87e385b68563e 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,7 +3,7 @@
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 25833da741879c..6c1c1d8c84d7e6 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -9,7 +9,7 @@
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index fddb331ccb9c7d..69d64d66af315d 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index e4841c705f1dd0..0aa2a251710e29 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c3fb60c61ad1aa..6a4db0b4e93854 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -8,10 +8,11 @@
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index b6ec512dc4ab0a..ebb742f4b1e692 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 93b0430c1e0c0f..980c491c9cfb7d 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,7 +4,7 @@
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c7f57fd9bca413..3ba129d0310c61 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -20,8 +20,8 @@
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
-from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 3ab33a1dfdbe43..9eea6b90506f8f 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -7,7 +7,8 @@
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Ratekeeper
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle

From 35a4a773f1ff6c7b171b7acdb2fd4a65279edebd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 11:14:04 -0700
Subject: [PATCH 142/247] Revert "selfdrive/car: ban imports from external
 modules" (#32993)

Revert "selfdrive/car: ban imports from external modules (#32973)"

This reverts commit 83d4623590f87dcb7df2b458a8814d5ad6ea711b.
---
 .importlinter                                 | 36 -------------------
 .pre-commit-config.yaml                       |  7 ----
 pyproject.toml                                |  1 -
 selfdrive/car/__init__.py                     |  1 -
 selfdrive/car/body/carcontroller.py           |  2 +-
 selfdrive/car/body/interface.py               |  3 +-
 selfdrive/car/card.py                         |  3 +-
 selfdrive/car/chrysler/carcontroller.py       |  3 +-
 selfdrive/car/gm/carcontroller.py             |  3 +-
 selfdrive/car/honda/carcontroller.py          |  2 +-
 selfdrive/car/hyundai/carcontroller.py        |  3 +-
 selfdrive/car/interfaces.py                   |  3 +-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_lateral_limits.py    |  2 +-
 selfdrive/car/tests/test_models.py            |  5 +--
 selfdrive/car/toyota/carstate.py              |  2 +-
 selfdrive/car/volkswagen/carcontroller.py     |  3 +-
 selfdrive/controls/controlsd.py               |  3 +-
 selfdrive/controls/lib/drive_helpers.py       |  2 +-
 selfdrive/controls/lib/events.py              |  2 +-
 selfdrive/controls/lib/latcontrol.py          |  2 +-
 selfdrive/controls/lib/longcontrol.py         |  2 +-
 selfdrive/controls/radard.py                  |  3 +-
 .../controls/tests/test_state_machine.py      |  2 +-
 selfdrive/debug/cycle_alerts.py               |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 tools/replay/can_replay.py                    |  3 +-
 27 files changed, 32 insertions(+), 73 deletions(-)
 delete mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
deleted file mode 100644
index 3cb9e6b471c94e..00000000000000
--- a/.importlinter
+++ /dev/null
@@ -1,36 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ab9ce08c7a86a5..6aa2a065ac1c65 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,10 +96,3 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index e9c999400de0b1..13800fc1c541a6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,7 +73,6 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6f3bde7f0c26c3..4a1df550d055f4 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,7 +11,6 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
-DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index c45dc7f0d2d964..259126c416deed 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 50564d3ed806f2..f797a7ecf8143e 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,6 +1,7 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 37f51b9abaf3b5..d9ee020ba493b1 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,10 +9,9 @@
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c9e7e2c9ed4f05..85f53f68eb4f57 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,5 +1,6 @@
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 013e72ad0be221..b204d3b80ff0bf 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66bd50048581c5..fe023ea17d714e 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3d7768a83b6037..4038ddcca9088b 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9f1b650158e1b7..54070284e4750f 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,7 +13,8 @@
 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.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+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.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4ca19f019e6df0..bb97ac8a9ad7e0 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,7 +6,8 @@
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 24eac01fcd9739..e61d197f4b7085 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@
 import pytest
 import sys
 
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 02e99f0b821efa..b5d75e665b0582 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,13 +12,14 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e02293da4e1f29..a596881c33d985 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 8e8652d3bec8c1..a4e0c8946ae10f 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,7 +2,8 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index df84fc718e2e21..583cbaea1f63e1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -15,10 +15,9 @@
 from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index a87e385b68563e..cfc6374a1d1faf 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,7 +3,7 @@
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 6c1c1d8c84d7e6..25833da741879c 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -9,7 +9,7 @@
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 69d64d66af315d..fddb331ccb9c7d 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 0aa2a251710e29..e4841c705f1dd0 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 6a4db0b4e93854..c3fb60c61ad1aa 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -8,11 +8,10 @@
 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
-from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index ebb742f4b1e692..b6ec512dc4ab0a 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 980c491c9cfb7d..93b0430c1e0c0f 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,7 +4,7 @@
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3ba129d0310c61..c7f57fd9bca413 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -20,8 +20,8 @@
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
+from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 9eea6b90506f8f..3ab33a1dfdbe43 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -7,8 +7,7 @@
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from openpilot.common.realtime import config_realtime_process, Ratekeeper
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle

From d684d8f0f6900d80a2a1618099b0b8e19e6492a2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 11:59:25 -0700
Subject: [PATCH 143/247] Reapply "selfdrive/car: ban imports from external
 modules" (#32993) (#32994)

* Reapply "selfdrive/car: ban imports from external modules" (#32993)

This reverts commit 35a4a773f1ff6c7b171b7acdb2fd4a65279edebd.

* controls will just use controls

* also these

* ignore
---
 .importlinter                              | 44 ++++++++++++++++++++++
 .pre-commit-config.yaml                    |  7 ++++
 pyproject.toml                             |  1 +
 selfdrive/car/__init__.py                  |  1 +
 selfdrive/car/body/carcontroller.py        |  2 +-
 selfdrive/car/body/interface.py            |  3 +-
 selfdrive/car/card.py                      |  3 +-
 selfdrive/car/chrysler/carcontroller.py    |  3 +-
 selfdrive/car/gm/carcontroller.py          |  3 +-
 selfdrive/car/honda/carcontroller.py       |  2 +-
 selfdrive/car/hyundai/carcontroller.py     |  3 +-
 selfdrive/car/interfaces.py                |  3 +-
 selfdrive/car/tests/test_car_interfaces.py |  3 +-
 selfdrive/car/tests/test_lateral_limits.py |  2 +-
 selfdrive/car/tests/test_models.py         |  5 +--
 selfdrive/car/toyota/carstate.py           |  2 +-
 selfdrive/car/volkswagen/carcontroller.py  |  3 +-
 17 files changed, 68 insertions(+), 22 deletions(-)
 create mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
new file mode 100644
index 00000000000000..594d75ee4aa417
--- /dev/null
+++ b/.importlinter
@@ -0,0 +1,44 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+    openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6aa2a065ac1c65..ab9ce08c7a86a5 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,3 +96,10 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index 13800fc1c541a6..e9c999400de0b1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,6 +73,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
+  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4a1df550d055f4..6f3bde7f0c26c3 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,6 +11,7 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 259126c416deed..c45dc7f0d2d964 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f797a7ecf8143e..50564d3ed806f2 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d9ee020ba493b1..37f51b9abaf3b5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,9 +9,10 @@
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 85f53f68eb4f57..c9e7e2c9ed4f05 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b204d3b80ff0bf..013e72ad0be221 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index fe023ea17d714e..66bd50048581c5 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4038ddcca9088b..3d7768a83b6037 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 54070284e4750f..9f1b650158e1b7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,8 +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 DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index bb97ac8a9ad7e0..4ca19f019e6df0 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,8 +6,7 @@
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index e61d197f4b7085..24eac01fcd9739 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b5d75e665b0582..02e99f0b821efa 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,14 +12,13 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a596881c33d985..e02293da4e1f29 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index a4e0c8946ae10f..8e8652d3bec8c1 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,8 +2,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags

From c0739cd9ee41ccd372bd8cd816c44dfce4e3a8a2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 16 Jul 2024 03:05:20 +0800
Subject: [PATCH 144/247] selfdrive/car/ecu_addrs: prefix internal functions
 with underscore (#32980)

underscore prefix
---
 selfdrive/car/ecu_addrs.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 756cd7f963f0ce..0fd4bbd0beffac 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -10,7 +10,7 @@
 from openpilot.common.swaglog import cloudlog
 
 
-def make_tester_present_msg(addr, bus, subaddr=None):
+def _make_tester_present_msg(addr, bus, subaddr=None):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
   if subaddr is not None:
     dat.insert(0, subaddr)
@@ -19,7 +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: int = None) -> bool:
+def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = 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
@@ -33,7 +33,7 @@ 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}
   responses = queries
@@ -44,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                   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]
+    msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
     messaging.drain_sock_raw(logcan)
     sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
@@ -58,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
             continue
 
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
             if debug:
               print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
               if (msg.address, subaddr, msg.src) in ecu_responses:
@@ -94,7 +94,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
   set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")

From 00af33c6ed3ada846ccfec9de489452c900afffd Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 15 Jul 2024 12:05:33 -0700
Subject: [PATCH 145/247] [bot] Bump submodules (#32989)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 msgq_repo      | 2 +-
 opendbc        | 2 +-
 teleoprtc_repo | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 74074d650f5d51..d7b99c4296f7a5 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537
+Subproject commit d7b99c4296f7a5c098e756bad73af8ef38370261
diff --git a/opendbc b/opendbc
index de39b143a31cd2..5ba787024f53a0 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit de39b143a31cd29b4df4c0cbba71316c1bc8e71b
+Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679
diff --git a/teleoprtc_repo b/teleoprtc_repo
index fdcff87aaf2b1c..389815b8ca5302 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5
+Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b

From aa8484093e886cd8ae90e4eb42118306794fc439 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 14:40:24 -0700
Subject: [PATCH 146/247] [bot] Fingerprints: add missing FW versions from new
 users (#32996)

Export fingerprints
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 selfdrive/car/toyota/fingerprints.py  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 4ad7e0e0aabb23..4c659f053f3cec 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -171,6 +171,7 @@
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 67203da7d0629c..a4d0ad1707d911 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -167,6 +167,7 @@
     (Ecu.abs, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
       b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606260\x00\x00\x00\x00\x00\x00',
       b'F152606270\x00\x00\x00\x00\x00\x00',
       b'F152606290\x00\x00\x00\x00\x00\x00',
       b'F152606410\x00\x00\x00\x00\x00\x00',

From 4b794773b0486a15732ce5551771584af7c41e43 Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Tue, 16 Jul 2024 18:24:01 -0700
Subject: [PATCH 147/247] use rounded constant instead of hard-coded value for
 incrementing set speed (#32992)

* use rounded constant instead of hard-coded value for incrementing set speed

* better comment
---
 selfdrive/controls/lib/drive_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cfc6374a1d1faf..bd74051374a384 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -13,7 +13,7 @@
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
-IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
+IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
 
 MIN_SPEED = 1.0
 CONTROL_N = 17

From 996bced674e6943976f1d6dba37075e113bf9288 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 17 Jul 2024 16:17:23 -0700
Subject: [PATCH 148/247] livePose log (#32868)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* add livepose

* Formatting

* Add to sevices

* Update locationd to publish livePose

* Remove fields and increase decimation

* Fix field indices

* Remove the line

* Add livePose to pubmaster

* Fix llk decimation

* Update ref commit

* XYZ measurements instead of lists

* Update locationd

* Update ref commit

* Lower the qlog size in test_onroad

* Update lower and upper boundary

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
---
 cereal/log.capnp                              | 33 +++++++
 cereal/services.py                            |  3 +-
 selfdrive/locationd/locationd.cc              | 90 +++++++++++++++----
 selfdrive/locationd/locationd.h               |  7 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/test_onroad.py                 |  2 +-
 7 files changed, 117 insertions(+), 22 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3a53db9cc45a83..d94d9632fec92e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1252,6 +1252,38 @@ struct LiveLocationKalman {
   }
 }
 
+
+struct LivePose {
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  orientationNED @0 :XYZMeasurement;
+  velocityDevice @1 :XYZMeasurement;
+  accelerationDevice @2 :XYZMeasurement;
+  angularVelocityDevice @3 :XYZMeasurement;
+
+  inputsOK @4 :Bool = false;
+  posenetOK @5 :Bool = false;
+  sensorsOK @6 :Bool = false;
+
+  filterState @7 :FilterState;
+
+  struct XYZMeasurement {
+    x @0 :Float32;
+    y @1 :Float32;
+    z @2 :Float32;
+    xStd @3 :Float32;
+    yStd @4 :Float32;
+    zStd @5 :Float32;
+    valid @6 :Bool;
+  }
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2293,6 +2325,7 @@ struct Event {
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
+    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
diff --git a/cereal/services.py b/cereal/services.py
index f1e1935c5408f6..f2d01b922060df 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -47,7 +47,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 2ac392a77893b3..5607871f5f5baf 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -41,14 +41,25 @@ const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
 
 const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
 
-static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
-  VectorXd res(floatlist.size());
+template <typename ListType, typename Vector>
+static Vector floatlist2vector(const ListType& floatlist) {
+  Vector res(floatlist.size());
   for (int i = 0; i < floatlist.size(); i++) {
     res[i] = floatlist[i];
   }
   return res;
 }
 
+template <typename ListType>
+static VectorXd float64list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXd>(floatlist);
+}
+
+template <typename ListType>
+static VectorXf float32list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXf>(floatlist);
+}
+
 static Vector4d quat2vector(const Quaterniond& quat) {
   return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
 }
@@ -63,6 +74,11 @@ static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder me
   meas.setValid(valid);
 }
 
+static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) {
+  meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
+  meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
+  meas.setValid(valid);
+}
 
 static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
   // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
@@ -91,6 +107,30 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
   this->configure_gnss_source(gnss_source);
 }
 
+void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) {
+  // Just copy the values from liveLocation to livePose for now
+  VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd());
+  init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true);
+  VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd());
+  init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true);
+  VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true);
+
+  if (DEBUG) {
+    VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd());
+    cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState();
+    filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size()));
+    filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size()));
+    filter_state_builder.setValid(true);
+  }
+
+  livePose.setInputsOK(liveLocation.getInputsOK());
+  livePose.setPosenetOK(liveLocation.getPosenetOK());
+  livePose.setSensorsOK(liveLocation.getSensorsOK());
+}
+
 void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd predicted_state = this->kf->get_x();
   MatrixXdr predicted_cov = this->kf->get_P();
@@ -279,7 +319,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     // TODO: reduce false positives and re-enable this check
     // check if device fell, estimate 10 for g
     // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
-    // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+    // this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
 
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
     if (meas.norm() < ACCEL_SANITY_CHECK) {
@@ -311,7 +351,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
-  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+  bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
   if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
@@ -450,8 +490,8 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
 }
 
 void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
-  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
-  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+  VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans());
 
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
@@ -463,8 +503,8 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
     return;
   }
 
-  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
-  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+  VectorXd rot_calib_std = float64list2vector(log.getRotStd());
+  VectorXd trans_calib_std = float64list2vector(log.getTransStd());
 
   if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
     this->observation_values_invalid["cameraOdometry"] += 1.0;
@@ -499,7 +539,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
   }
 
   if (log.getRpyCalib().size() > 0) {
-    auto live_calib = floatlist2vector(log.getRpyCalib());
+    auto live_calib = float64list2vector(log.getRpyCalib());
     if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
       this->observation_values_invalid["liveCalibration"] += 1.0;
       return;
@@ -611,8 +651,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->update_reset_tracker();
 }
 
-kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
-                                                       bool sensorsOK, bool gpsOK, bool msgValid) {
+void Localizer::build_location_message(
+  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) {
   cereal::Event::Builder evt = msg_builder.initEvent();
   evt.setValid(msgValid);
   cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
@@ -620,7 +660,19 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
   liveLoc.setSensorsOK(sensorsOK);
   liveLoc.setGpsOK(gpsOK);
   liveLoc.setInputsOK(inputsOK);
-  return msg_builder.toBytes();
+}
+
+void Localizer::build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setValid(msgValid);
+  cereal::LivePose::Builder livePose = evt.initLivePose();
+
+  cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot<cereal::Event>().getLiveLocationKalman().asReader();
+  this->build_live_pose(livePose, location_msg);
+
+  livePose.setSensorsOK(sensorsOK);
+  livePose.setInputsOK(inputsOK);
 }
 
 bool Localizer::is_gps_ok() {
@@ -692,7 +744,7 @@ int Localizer::locationd_thread() {
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
-  PubMaster pm({"liveLocationKalman"});
+  PubMaster pm({"liveLocationKalman", "livePose"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
@@ -726,9 +778,15 @@ int Localizer::locationd_thread() {
         this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
       }
 
-      MessageBuilder msg_builder;
-      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
-      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+      MessageBuilder location_msg_builder, pose_msg_builder;
+      this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
+      this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized);
+
+      kj::ArrayPtr<capnp::byte> location_bytes = location_msg_builder.toBytes();
+      pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size());
+
+      kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
+      pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
 
       if (cnt % 1200 == 0 && gpsOK) {  // once a minute
         VectorXd posGeo = this->get_position_geodetic();
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index 47c8bf5627bb60..615f31c9d0e85e 100644
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -45,9 +45,12 @@ class Localizer {
   bool are_inputs_ok();
   void observation_timings_invalid_reset();
 
-  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
-    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_location_message(
+    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
   void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+  void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
 
   Eigen::VectorXd get_position_geodetic();
   Eigen::VectorXd get_state();
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c7f57fd9bca413..eae6abfaadda8d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -532,7 +532,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "gpsLocation"
     ],
-    subs=["liveLocationKalman"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     config_callback=locationd_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 13b427b8941a6e..02e4b997aa2a6b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0adff03d45c99dcfb330c48b2aa9d2093ce674a2
+3942de8e75caa7a99828e65c3396abd94d6b3da7
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 78486a176d47a9..bbb99d13b9b218 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,7 +206,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.6 < sz < 1.0
+        assert 0.4 < sz < 0.6
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 7f9cdf8e43e50c9ec4c90cf96bfa4317094cc8f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 17 Jul 2024 19:31:29 -0700
Subject: [PATCH 149/247] increase cameraOdometry decimation (#33010)

reduce cameraOdometry decimation
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index f2d01b922060df..6ff821e7f16a19 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -50,7 +50,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livePose": (True, 20., 4),
   "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),

From 3c48a6154b95f0ae2ab84fd916e02b704c74b258 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 Jul 2024 20:42:12 -0700
Subject: [PATCH 150/247] increase longitudinalPlan decimation (#33009)

change longitudinalPlan decimation
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index 6ff821e7f16a19..7d73374df1e4b9 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -38,7 +38,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
+  "longitudinalPlan": (True, 20., 10),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),

From f31ad97e924af579ec60961bc7cc3c170525fcef Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 Jul 2024 21:57:36 -0700
Subject: [PATCH 151/247] qlog_size: decimate rlog option (#33011)

* decimate option

* clean up

* check exists
---
 selfdrive/debug/internal/qlog_size.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 2d17a1ee281484..7dc61ed9df802f 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -5,6 +5,7 @@
 
 import matplotlib.pyplot as plt
 
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
@@ -48,9 +49,29 @@ def make_pie(msgs, typ):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View log size breakdown by message type')
   parser.add_argument('route', help='route to use')
+  parser.add_argument('--as-qlog', action='store_true', help='decimate rlog using latest decimation factors')
   args = parser.parse_args()
 
   msgs = list(LogReader(args.route))
 
+  if args.as_qlog:
+    new_msgs = []
+    msg_cnts: dict[str, int] = defaultdict(int)
+    for msg in msgs:
+      msg_which = msg.which()
+      if msg.which() in ("initData", "sentinel"):
+        new_msgs.append(msg)
+        continue
+
+      if msg_which not in SERVICE_LIST:
+        continue
+
+      decimation = SERVICE_LIST[msg_which].decimation
+      if decimation is not None and msg_cnts[msg_which] % decimation == 0:
+        new_msgs.append(msg)
+      msg_cnts[msg_which] += 1
+
+    msgs = new_msgs
+
   make_pie(msgs, 'qlog')
   plt.show()

From 560e37cd83c51149328aedc83b7d34c40941bf46 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 18 Jul 2024 18:48:54 -0700
Subject: [PATCH 152/247] tici: set STM_BOOT0 in reset (#33015)

* tici: reset panda boot0

* ooops
---
 system/hardware/tici/hardware.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index a5dee88b562dba..eb524dbafaa5e8 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -563,8 +563,10 @@ def has_internal_panda(self):
 
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
 
     gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 0)
     time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
 

From fd5549bba1dc33e16a8e3e09b02393d8f0dd4aa6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 18 Jul 2024 19:26:22 -0700
Subject: [PATCH 153/247] nightly build takes longer than this

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 654aed49c5b6db..d2dffeecc74a00 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -82,7 +82,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }

From c96dbd5a0b681c76b94191d1b928e29eb2b72119 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 18 Jul 2024 20:19:39 -0700
Subject: [PATCH 154/247] Fix msgq context overrides (#33014)

* Fix msgq context overrides

* Remove unneccesary changes

* add reset_context helper

* Remove redundant import
---
 cereal/messaging/__init__.py                           | 7 ++++++-
 selfdrive/debug/internal/measure_torque_time_to_max.py | 2 +-
 system/manager/process.py                              | 2 +-
 tools/camerastream/compressed_vipc.py                  | 7 ++++---
 tools/lib/live_logreader.py                            | 2 +-
 tools/replay/rp_visualization.py                       | 2 +-
 tools/tuning/measure_steering_accuracy.py              | 2 +-
 7 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 8dfa42056d0c03..9646047de37df6 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -2,7 +2,8 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq
 
 import os
 import capnp
@@ -17,6 +18,10 @@
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def reset_context():
+  msgq.context = Context()
+
+
 def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
   with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
index ef3152b50ca379..7052dccf7de283 100755
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -18,7 +18,7 @@
 
   if args.addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
   messaging.sub_sock('can', poller, addr=args.addr)
diff --git a/system/manager/process.py b/system/manager/process.py
index 9214e417c1ed39..c78d263dcc3af2 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -30,7 +30,7 @@ def launcher(proc: str, name: str) -> None:
     setthreadname(proc)
 
     # create new context since we forked
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     # add daemon name tag to logs
     cloudlog.bind(daemon=name)
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 6c27e861ffb484..f531a289f91ffa 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -8,6 +8,7 @@
 import time
 import signal
 
+
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
@@ -42,7 +43,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
     codec = av.CodecContext.create("hevc", "r")
 
   os.environ["ZMQ"] = "1"
-  messaging.context = messaging.Context()
+  messaging.reset_context()
   sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
   cnt = 0
   last_idx = -1
@@ -109,12 +110,12 @@ class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
     sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
     while min(sm.recv_frame.values()) == 0:
       sm.update(100)
     os.environ.pop("ZMQ")
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py
index 6a7ecee6fd0dad..edc4ac16112933 100644
--- a/tools/lib/live_logreader.py
+++ b/tools/lib/live_logreader.py
@@ -10,7 +10,7 @@
 def raw_live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable:
   if addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
 
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
index 853a83c1503d0f..01058967b2cc56 100755
--- a/tools/replay/rp_visualization.py
+++ b/tools/replay/rp_visualization.py
@@ -53,7 +53,7 @@ def get_arg_parser():
   args = get_arg_parser().parse_args(sys.argv[1:])
   if args.ip_address != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
   rr.init("RadarPoints", spawn= True)
   rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
   visualize(args.ip_address)
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 6abf1338dcb4dd..0b8916343e9e2d 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -147,7 +147,7 @@ def update(self, sm):
   else:
     if args.addr != "127.0.0.1":
       os.environ["ZMQ"] = "1"
-      messaging.context = messaging.Context()
+      messaging.reset_context()
 
     carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
     sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)

From 917ea5699f3af241e60311455af5f20c0c55a8c4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 20 Jul 2024 01:14:04 +0800
Subject: [PATCH 155/247] cereal: deprecate FrameData.frameType (#33019)

deprecate FrameData.frameType
---
 cereal/log.capnp                       | 5 ++---
 system/camerad/cameras/camera_qcom2.cc | 1 -
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d94d9632fec92e..d849f4840b44bd 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -137,8 +137,6 @@ struct FrameData {
   requestId @28 :UInt32;
   encodeId @1 :UInt32;
 
-  frameType @7 :FrameType;
-
   # Timestamps
   timestampEof @2 :UInt64;
   timestampSof @8 :UInt64;
@@ -158,7 +156,7 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameType {
+  enum FrameTypeDEPRECATED {
     unknown @0;
     neo @1;
     chffrAndroid @2;
@@ -175,6 +173,7 @@ struct FrameData {
 
   frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
+  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
   lensSagDEPRECATED @12 :Float32;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 096e288cc2e4a2..47ea5ded4d8e0d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -932,7 +932,6 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
-  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
   fill_frame_data(framed, c->buf.cur_frame_data, c);
 
   c->ci->processRegisters(c, framed);

From 07fcc4825f7e669068024c12987120a7662b220f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 10:19:38 -0700
Subject: [PATCH 156/247] make pyproject.toml pep508 compliant (#33021)

pep508
---
 pyproject.toml |  8 ++---
 uv.lock        | 93 +++++++++++++++++++++++++++++++-------------------
 2 files changed, 61 insertions(+), 40 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index e9c999400de0b1..126e122ab357eb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -100,7 +100,7 @@ dev = [
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator; platform_machine != 'aarch64'",
+  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
   "mpld3",
   "myst-parser",
   "natsort",
@@ -122,9 +122,6 @@ dev = [
 
 ]
 
-[tool.uv.sources]
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
-
 [project.urls]
 Homepage = "https://comma.ai"
 
@@ -135,6 +132,9 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [ "." ]
 
+[tool.hatch.metadata]
+allow-direct-references = true
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
diff --git a/uv.lock b/uv.lock
index b0ba09ca3c7af9..48d53bbda9477d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -214,12 +214,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9f/a6/edb201c436c820779b1f4e2bf5a74b6fd5e4d7d7b703336e5c0518e1b08f/casadi-3.6.5-cp27-none-manylinux1_i686.whl", hash = "sha256:b5192dfabf6f5266b168b984d124dd3086c1c5a408c0743ff3a82290a8ccf3b5", size = 47956673 },
     { url = "https://files.pythonhosted.org/packages/f7/4d/6c8f37e08a3a91a69be8fffa67ce4a27823d3d4ca2099312f938690938f9/casadi-3.6.5-cp27-none-manylinux2010_x86_64.whl", hash = "sha256:35b2ff6098e386a4d5e8bc681744e52bcd2f2f15cfa44c09814a8979b51a6794", size = 53936205 },
     { url = "https://files.pythonhosted.org/packages/b5/95/1a087e511ded93ab74f3a0adf36a4beaee22ce30d2951ab7115dad3d26b5/casadi-3.6.5-cp27-none-win_amd64.whl", hash = "sha256:caf395d1e36bfb215b154e8df61583d534a07ddabb18cbe50f259b7692a41ac8", size = 43027309 },
-    { url = "https://files.pythonhosted.org/packages/a6/29/11a974e24bdaa50c0ee4c03b8631c7cfed65b5caba5123d91331d4cb969b/casadi-3.6.5-cp310-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:314886ef44bd01f1a98579e7784a3bed6e0584e88f9465cf9596af2523efb0dd", size = 42876397 },
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     { name = "filelock" },
     { name = "geopandas" },
@@ -1571,6 +1593,7 @@ docs = [
 testing = [
     { name = "coverage" },
     { name = "hypothesis" },
+    { name = "import-linter" },
     { name = "mypy" },
     { name = "pre-commit" },
     { name = "pytest" },
@@ -4623,8 +4646,6 @@ sdist = { url = "https://files.pythonhosted.org/packages/28/6c/640e3f5c734c296a7
 wheels = [
     { url = "https://files.pythonhosted.org/packages/0f/28/fcaf2aeede42456538d1543aefa253d70282bf326f5f795c99233366b66f/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-abi3-macosx_10_13_intel.whl", hash = "sha256:894ca4ae767a8d6cf5903784b71f755073c78cb8c167eecf6e4ed6b3b055ac6a", size = 47599356 },
     { url = "https://files.pythonhosted.org/packages/91/cf/cc705497cdae04c3c0bc34f94b91e31b6585bb65eb561f18473c998caae1/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-abi3-manylinux2014_x86_64.whl", hash = "sha256:29889845688a54d62820585ad5b2e0200a36b304ff3d7a555e95599f110ba4ce", size = 68328841 },
-    { url = "https://files.pythonhosted.org/packages/b7/3e/a10c682f8ee33583cdc86a0d0eafe82b39156be3771abaa219b6e50251cd/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-none-win32.whl", hash = "sha256:ea24f24b7679bf393dd2e4f53fe0ce65021be18304c1ff7a226c2fc5c356d0da", size = 48859916 },
-    { url = "https://files.pythonhosted.org/packages/aa/72/754c693db0e745b9fe47debc3ec52844461f090d5beff28489a0cde5ef82/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-none-win_amd64.whl", hash = "sha256:faaecb76ec65e12673a968e7f5bc02495957e6996f0a3fa0d98895f9e4113746", size = 56911575 },
 ]
 
 [[distribution]]

From 0907b30d7b87957ae14cad7954358c1d78d9a528 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 19 Jul 2024 15:39:44 -0700
Subject: [PATCH 157/247] ui: fix flipped experimental path acceleration
 (#33026)

* fix

* clean up

* better comment

* Update selfdrive/ui/qt/onroad/annotated_camera.cc
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 60f2380dc5c16b..484075b3e23c65 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -177,10 +177,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
-      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
+      int track_idx = (scene.track_vertices.length() / 2) - i;  // flip idx to start from top
+      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
 
       // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
+      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
 
       // speed up: 120, slow down: 0
       float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);

From 1aa467cb003e7915a6dbc1ee7786f8c199cf6223 Mon Sep 17 00:00:00 2001
From: jamperezmondragon <70548653+jamperezmondragon@users.noreply.github.com>
Date: Sat, 20 Jul 2024 16:54:51 -0600
Subject: [PATCH 158/247] Spanish Translation Update (#32995)

* Update main_es.ts

* Update main_es.ts

* Update Spanish Translation [(#32995)](https://github.com/commaai/openpilot/pull/32995)
---
 selfdrive/ui/translations/main_es.ts | 152 +++++++++++++--------------
 1 file changed, 76 insertions(+), 76 deletions(-)

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 941b30e2d09116..c8093e3029dc21 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -64,7 +64,7 @@
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evitar grandes descargas de datos cuando tiene una conexión limitada</translation>
+        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
     </message>
     <message>
         <source>Hidden Network</source>
@@ -72,7 +72,7 @@
     </message>
     <message>
         <source>CONNECT</source>
-        <translation>CONNECTAR</translation>
+        <translation>CONECTAR</translation>
     </message>
     <message>
         <source>Enter SSID</source>
@@ -117,7 +117,7 @@
     <name>DeclinePage</name>
     <message>
         <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Debe aceptar los terminos y condiciones para poder utilizar openpilot.</translation>
+        <translation>Debe aceptar los términos y condiciones para poder utilizar openpilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -164,11 +164,11 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (El vehículo tiene que estar apagado)</translation>
+        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (el vehículo tiene que estar apagado)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>Reiniciar Calibración</translation>
+        <translation>Formatear Calibración</translation>
     </message>
     <message>
         <source>RESET</source>
@@ -176,11 +176,11 @@
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>¿Seguro qué quiere reiniciar la calibración?</translation>
+        <translation>¿Seguro que quiere formatear la calibración?</translation>
     </message>
     <message>
         <source>Reset</source>
-        <translation>Reiniciar</translation>
+        <translation>Formatear</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
@@ -196,7 +196,7 @@
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>¿Seguro qué quiere revisar la guía de entrenamiento?</translation>
+        <translation>¿Seguro que quiere revisar la guía de entrenamiento?</translation>
     </message>
     <message>
         <source>Review</source>
@@ -232,11 +232,11 @@
     </message>
     <message>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot requiere que el dispositivo sea montado entre 4° izquierda o derecha y entre 5° arriba o 9° abajo. openpilot está constantemente en calibración, reiniciar es rara vez necesario.</translation>
+        <translation>openpilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. openpilot está constantemente en calibración, formatear rara vez es necesario.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Su dispositivo está apuntando %1° %2 e %3° %4.</translation>
+        <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
     </message>
     <message>
         <source>down</source>
@@ -286,7 +286,7 @@
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>MODO TRANQUILO</translation>
+        <translation>MODO CHILL</translation>
     </message>
 </context>
 <context>
@@ -298,7 +298,7 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>¡Necesita mínimo %n caractere!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
             <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
         </translation>
     </message>
@@ -314,7 +314,7 @@
     <name>MultiOptionDialog</name>
     <message>
         <source>Select</source>
-        <translation>Seleccione</translation>
+        <translation>Seleccionar</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -337,22 +337,22 @@
     </message>
     <message>
         <source>Wrong password</source>
-        <translation>Contraseña equivocada</translation>
+        <translation>Contraseña incorrecta</translation>
     </message>
 </context>
 <context>
     <name>OffroadAlert</name>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Temperatura de dispositivo muy alta. Systema enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
     </message>
     <message>
         <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Inmediatamente conectar al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciara en %1</translation>
+        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1</translation>
     </message>
     <message>
         <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conectar al internet para buscar actualizaciones. openpilot no iniciara automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+        <translation>Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -362,7 +362,7 @@
     </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tomando instantáneas de la cámara. El sistema no se iniciará hasta que finalice.</translation>
+        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</translation>
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
@@ -370,7 +370,7 @@
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>El dispositivo no pudo registrarse. No se conectará ni cargará en los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
+        <translation>El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -378,15 +378,15 @@
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>Se detectó una unidad NVMe no compatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a que NVMe no es compatible.</translation>
+        <translation>Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Envíe una solicitud de extracción para agregar las versiones de firmware al vehículo adecuado. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que comma power esté completamente insertada en el puerto OBD-II del vehículo. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
@@ -439,15 +439,15 @@
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Ve a https://connect.comma.ai en su telefono</translation>
+        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Clic en &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Marcar connect.comma.ai como su pantalla de inicio para usarlo como una aplicación</translation>
+        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
     </message>
 </context>
 <context>
@@ -469,7 +469,7 @@
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Hazte miembro prime de comma en connect.comma.ai</translation>
+        <translation>Hazte miembro de comma prime en connect.comma.ai</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -485,11 +485,11 @@
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1 año de almacenamiento en disco</translation>
+        <translation>1 año de almacenamiento</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation>Istantánea remota</translation>
+        <translation>Capturas remotas</translation>
     </message>
 </context>
 <context>
@@ -547,25 +547,25 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>Reset fallido. Reinicie de nuevo.</translation>
+        <translation>Formateo fallido. Reinicie para reintentar.</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>Reiniciando dispositivo...
-Esto puede tardar hasta un minuto.</translation>
+        <translation>formateando dispositivo...
+Esto puede tardar un minuto.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>¿Seguro que quiere reiniciar su dispositivo?</translation>
+        <translation>¿Seguro que quiere formatear su dispositivo?</translation>
     </message>
     <message>
         <source>System Reset</source>
-        <translation>Reiniciar Sistema</translation>
+        <translation>Formatear Sistema</translation>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Reinicio del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
+        <translation>Formateo del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -581,7 +581,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo.</translation>
+        <translation>No es posible montar una partición de datos. La partición podría estar corrompida. Confirme para borrar y formatear su dispositivo.</translation>
     </message>
 </context>
 <context>
@@ -615,19 +615,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Asegurese de que la URL insertada es válida, y que el dispositivo tiene buena conexión.</translation>
+        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation>No hay software personalizado en esta URL.</translation>
+        <translation>No encontramos software personalizado en esta URL.</translation>
     </message>
     <message>
         <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Volage bajo</translation>
+        <translation>ALERTA: Voltaje bajo</translation>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Encender su dispositivo en el auto con el arnés o proceda bajo su propio riesgo.</translation>
+        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
     </message>
     <message>
         <source>Power off</source>
@@ -643,11 +643,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de comenzar, terminemos la instalación y cubramos algunos detalles.</translation>
+        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>Conectar a la Wi-Fi</translation>
+        <translation>Conectarse al Wi-Fi</translation>
     </message>
     <message>
         <source>Back</source>
@@ -663,7 +663,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation>Elija el software para instalar</translation>
+        <translation>Elija el software a instalar</translation>
     </message>
     <message>
         <source>openpilot</source>
@@ -699,7 +699,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Select a language</source>
-        <translation>Seleccione el idioma</translation>
+        <translation>Seleccione un idioma</translation>
     </message>
 </context>
 <context>
@@ -710,7 +710,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+        <translation>Empareje su dispositivo con comma connect (connect.comma.ai) y reclame su oferta de comma prime.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -725,11 +725,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation>SIN LINEA</translation>
+        <translation>OFFLINE</translation>
     </message>
     <message>
         <source>ONLINE</source>
-        <translation>EN LINEA</translation>
+        <translation>EN LÍNEA</translation>
     </message>
     <message>
         <source>ERROR</source>
@@ -745,7 +745,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>GOOD</source>
-        <translation>BUENO</translation>
+        <translation>BUENA</translation>
     </message>
     <message>
         <source>OK</source>
@@ -769,7 +769,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>SEARCH</source>
-        <translation>BUSQUEDA</translation>
+        <translation>BÚSQUEDA</translation>
     </message>
     <message>
         <source>--</source>
@@ -804,7 +804,7 @@ Esto puede tardar hasta un minuto.</translation>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>Apague el auto para descargar actualizaciones.</translation>
+        <translation>Actualizaciones solo se descargan con el auto apagado.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -856,7 +856,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation>no se pudo buscar actualización</translation>
+        <translation>no se pudo buscar actualizaciones</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
@@ -883,7 +883,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca inserte un nombre de usuario de Github que no sea suyo. Un empleado de comma nunca le pedirá que añada su nombre de Github.</translation>
+        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca ingrese un nombre de usuario de Github que no sea suyo. Un empleado de comma NUNCA le pedirá que añada un usuario de Github que no sea el suyo.</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -891,7 +891,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>Ingresa tu usuario de GitHub</translation>
+        <translation>Ingrese su usuario de GitHub</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -903,7 +903,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Nombre de usuario &quot;%1” no tiene claves en GitHub</translation>
+        <translation>El usuario &quot;%1” no tiene claves en GitHub</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -911,7 +911,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Nombre de usuario &apos;%1&apos; no existe en Github</translation>
+        <translation>El usuario &apos;%1&apos; no existe en Github</translation>
     </message>
 </context>
 <context>
@@ -925,7 +925,7 @@ Esto puede tardar hasta un minuto.</translation>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>Terminos &amp; Condiciones</translation>
+        <translation>Términos &amp; Condiciones</translation>
     </message>
     <message>
         <source>Decline</source>
@@ -948,19 +948,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema openpilot para control de crucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+        <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de openpilot (Alfa)</translation>
+        <translation>Control longitudinal de openpilot (fase experimental)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>Aviso: el control longitudinal de openpilot está en fase alfa para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>En este vehículo, openpilot se configura de manera predeterminada con el Control de Crucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal alfa de openpilot.</translation>
+        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
@@ -972,23 +972,23 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Cuando esté activado, presionar el acelerador deshabilitará el openpilot.</translation>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará openpilot.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>Activar Aviso de Salida de Carril</translation>
+        <translation>Activar Avisos de Salida de Carril</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Recibir alertas para volver dentro del carril cuando su vehículo se sale fuera del carril sin que esté activado la señal de giro mientras esté conduciendo por encima de 50 km/h (31 mph).</translation>
+        <translation>Recibir alertas para volver al carril cuando su vehículo se salga fuera del carril sin que esté activada la señal de giro y esté conduciendo por encima de 50 km/h (31 mph).</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation>Monitoreo del Conductor Siempre Activo</translation>
+        <translation>Monitoreo Permanente del Conductor</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Habilite el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
+        <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
     </message>
     <message>
         <source>Record and Upload Driver Camera</source>
@@ -996,7 +996,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitorización del conductor.</translation>
+        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitoreo del conductor.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -1024,19 +1024,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Se recomienda estándar. En el modo agresivo, openpilot seguirá a los autos líderes más cerca y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los coches líderes. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+        <translation>Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
     </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que no están listos para el modo chill. Los recursos del modo expeimental están listados abajo:</translation>
+        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation>🌮 Control Longitudinal de Punta a Punta 🌮</translation>
+        <translation>Control Longitudinal de Punta a Punta</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot va a conducir como lo haría una persona, incluiyendo parar en los semaforos en rojo y las señales de stop. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida actuará como limitador. Este recurso es de una calidad alfa; errores pueden ocurrir.</translation>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1044,11 +1044,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental se mostrará en la esquina superior derecha.</translation>
+        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental también se mostrará en la esquina superior derecha.</translation>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC del auto está siendo usado para el control longitudinal.</translation>
+        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
@@ -1056,11 +1056,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas sin liberación.</translation>
+        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas.</translation>
     </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activar el control longitudinal experimental para permitir el modo Experimental.</translation>
+        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
 </context>
 <context>
@@ -1071,7 +1071,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo a Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
+        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo al Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
@@ -1106,7 +1106,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Conectar a Wi-Fi para subir los datos de conducir para mejorar openpilot</translation>
+        <translation>Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot</translation>
     </message>
     <message>
         <source>Open Settings</source>
@@ -1137,7 +1137,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Olvidar Red Wi-Fi &quot;%1&quot;?</translation>
+        <translation>¿Olvidar la Red de Wi-Fi &quot;%1&quot;?</translation>
     </message>
     <message>
         <source>Forget</source>

From dc886e195f9815c77b721a8a438bbdffe9067e38 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 22 Jul 2024 10:19:34 +0800
Subject: [PATCH 159/247] camerad: add CameraConfig struct for initializing
 CameraState in constructor (#33034)

* Add CameraConfig struct for initializing CameraState in constructor

* Update system/camerad/cameras/camera_qcom2.h

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/camerad/cameras/camera_common.h |  3 --
 system/camerad/cameras/camera_qcom2.cc | 43 +++++++++++++++---------
 system/camerad/cameras/camera_qcom2.h  | 46 +++++++++++++++++++++-----
 3 files changed, 65 insertions(+), 27 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 555362ab8bc7ab..f97940b669fb63 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,9 +18,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 47ea5ded4d8e0d..2eba1e36155542 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+  : multi_cam_state(multi_camera_state),
+    camera_num(config.camera_num),
+    stream_type(config.stream_type),
+    focal_len(config.focal_len),
+    enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -434,39 +442,36 @@ void CameraState::sensor_set_parameters() {
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
   skipped = true;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
-  camera_map_bufs(s);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  camera_map_bufs();
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_open() {
   if (!enabled) return;
 
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
@@ -644,9 +649,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -690,11 +695,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open(s, 2, !env_disable_driver);
+  s->driver_cam.camera_open();
   LOGD("driver camera opened");
-  s->road_cam.camera_open(s, 1, !env_disable_road);
+  s->road_cam.camera_open();
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+  s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
 }
 
@@ -956,6 +961,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
+MultiCameraState::MultiCameraState()
+  : driver_cam(this, DRIVER_CAMERA_CONFIG),
+    road_cam(this, ROAD_CAMERA_CONFIG),
+    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
+}
+
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f04f06..bdebeef9f80225 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,15 +11,41 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
   std::unique_ptr<const SensorInfo> ci;
   bool enabled;
+  VisionStreamType stream_type;
+  float focal_len;
 
   std::mutex exp_lock;
 
@@ -44,17 +70,18 @@ class CameraState {
   int camera_num;
   float fl_pix;
 
+  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_open();
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
 
   int32_t session_handle;
@@ -90,7 +117,10 @@ class CameraState {
   Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+  MultiCameraState();
+
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
@@ -102,4 +132,4 @@ typedef struct MultiCameraState {
   CameraState driver_cam;
 
   PubMaster *pm;
-} MultiCameraState;
+};

From cefe00c964d41f5ac15f13bc83b3e389d8965a5e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jul 2024 20:36:45 -0700
Subject: [PATCH 160/247] Revert "camerad: add CameraConfig struct for
 initializing CameraState in constructor (#33034)"

This reverts commit dc886e195f9815c77b721a8a438bbdffe9067e38.
---
 system/camerad/cameras/camera_common.h |  3 ++
 system/camerad/cameras/camera_qcom2.cc | 43 +++++++++---------------
 system/camerad/cameras/camera_qcom2.h  | 46 +++++---------------------
 3 files changed, 27 insertions(+), 65 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f97940b669fb63..555362ab8bc7ab 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,6 +18,9 @@ enum CameraType {
 };
 
 // for debugging
+const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
+const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
+const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 2eba1e36155542..47ea5ded4d8e0d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,14 +26,6 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
-CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
-  : multi_cam_state(multi_camera_state),
-    camera_num(config.camera_num),
-    stream_type(config.stream_type),
-    focal_len(config.focal_len),
-    enabled(config.enabled) {
-}
-
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -442,36 +434,39 @@ void CameraState::sensor_set_parameters() {
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs() {
+void CameraState::camera_map_bufs(MultiCameraState *s) {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
   skipped = true;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
-  camera_map_bufs();
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
+  camera_map_bufs(s);
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open() {
+void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
+  multi_cam_state = multi_cam_state_;
+  camera_num = camera_num_;
+  enabled = enabled_;
   if (!enabled) return;
 
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
@@ -649,9 +644,9 @@ void CameraState::camera_open() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(v, device_id, ctx);
-  s->road_cam.camera_init(v, device_id, ctx);
-  s->wide_road_cam.camera_init(v, device_id, ctx);
+  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
+  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
+  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -695,11 +690,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open();
+  s->driver_cam.camera_open(s, 2, !env_disable_driver);
   LOGD("driver camera opened");
-  s->road_cam.camera_open();
+  s->road_cam.camera_open(s, 1, !env_disable_road);
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open();
+  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
   LOGD("wide road camera opened");
 }
 
@@ -961,12 +956,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
-MultiCameraState::MultiCameraState()
-  : driver_cam(this, DRIVER_CAMERA_CONFIG),
-    road_cam(this, ROAD_CAMERA_CONFIG),
-    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
-}
-
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index bdebeef9f80225..0b15c9c3f04f06 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,41 +11,15 @@
 
 #define FRAME_BUF_COUNT 4
 
-struct CameraConfig {
-  int camera_num;
-  VisionStreamType stream_type;
-  float focal_len;  // millimeters
-  bool enabled;
-};
-
-const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
-  .camera_num = 0,
-  .stream_type = VISION_STREAM_WIDE_ROAD,
-  .focal_len = 1.71,
-  .enabled = !getenv("DISABLE_WIDE_ROAD"),
-};
-
-const CameraConfig ROAD_CAMERA_CONFIG = {
-  .camera_num = 1,
-  .stream_type = VISION_STREAM_ROAD,
-  .focal_len = 8.0,
-  .enabled = !getenv("DISABLE_ROAD"),
-};
-
-const CameraConfig DRIVER_CAMERA_CONFIG = {
-  .camera_num = 2,
-  .stream_type = VISION_STREAM_DRIVER,
-  .focal_len = 1.71,
-  .enabled = !getenv("DISABLE_DRIVER"),
-};
+#define ROAD_FL_MM 8.0f
+#define WIDE_FL_MM 1.71f
+#define DRIVER_FL_MM 1.71f
 
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
   std::unique_ptr<const SensorInfo> ci;
   bool enabled;
-  VisionStreamType stream_type;
-  float focal_len;
 
   std::mutex exp_lock;
 
@@ -70,18 +44,17 @@ class CameraState {
   int camera_num;
   float fl_pix;
 
-  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open();
+  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs();
-  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void camera_map_bufs(MultiCameraState *s);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
   void camera_close();
 
   int32_t session_handle;
@@ -117,10 +90,7 @@ class CameraState {
   Params params;
 };
 
-class MultiCameraState {
-public:
-  MultiCameraState();
-
+typedef struct MultiCameraState {
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
@@ -132,4 +102,4 @@ class MultiCameraState {
   CameraState driver_cam;
 
   PubMaster *pm;
-};
+} MultiCameraState;

From 27faa8f82b67989dc099b39483d2c8dbd3b05676 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 22 Jul 2024 10:10:39 -0700
Subject: [PATCH 161/247] [bot] Update Python packages and pre-commit hooks
 (#33037)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |   2 +-
 uv.lock                 | 251 ++++++++++++++++++++--------------------
 2 files changed, 124 insertions(+), 129 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ab9ce08c7a86a5..10939f42892ccf 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.2
+    rev: v0.5.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/uv.lock b/uv.lock
index 48d53bbda9477d..7808954e726d49 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,22 +116,22 @@ wheels = [
 
 [[distribution]]
 name = "av"
-version = "12.2.0"
+version = "12.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9e/e2/1c5708feb7ceb46c8ab9d2e3fbd451a725f0741d7c5336020d13be527490/av-12.2.0.tar.gz", hash = "sha256:460670325bbd64b7a6774b6bda05985cbe4582d111f81993bfbb08058f8c0484", size = 3828627 }
+sdist = { url = "https://files.pythonhosted.org/packages/00/f8/5adeeae0c42a7130933d168b8d84a21c98a32cb9fcf9222e2541ed0d9c7b/av-12.3.0.tar.gz", hash = "sha256:04b1892562aff3277efc79f32bd8f1d0cbb64ed011241cb3e96f9ad471816c22", size = 3833953 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/73/08/41200974e40a803da6d008cab7a801d187f950d92efa71182680b419a99a/av-12.2.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f74c9987798d45302b86e94b3bdb6009e9a509c57971b5599aae4353f5b8c5c0", size = 26057398 },
-    { url = "https://files.pythonhosted.org/packages/10/94/d4383c50b1a819e0edb43637d6cb03086b1fcc563e9c07fc0eb2840c4e2d/av-12.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:7d17e4110efe449842d12bc11166141b5ca08ce821b7529f02ed9dc3b73c9291", size = 20871004 },
-    { url = "https://files.pythonhosted.org/packages/b8/eb/82b86e8f763dd104a75478a02228465715984e0fe91ae6c7567093bf75a2/av-12.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a7cc709c0c231f282f1b26a76b42d63100a8bc088522cfd06c500ed4b6c660c", size = 33310123 },
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+    { url = "https://files.pythonhosted.org/packages/96/67/9f1c444864d4f3e3773100b9ed20e670f80d5575b7a8fd53cca20de9d681/av-12.3.0-cp312-cp312-win_amd64.whl", hash = "sha256:62d036ee8321d67190887012c3dbcd1ad83248603cc29ea75fbb75835b8d6e6e", size = 25977611 },
 ]
 
 [[distribution]]
@@ -166,7 +166,7 @@ wheels = [
 
 [[distribution]]
 name = "azure-storage-blob"
-version = "12.20.0"
+version = "12.21.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "azure-core" },
@@ -174,9 +174,9 @@ dependencies = [
     { name = "isodate" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/1b/0f/86cdaec4be486d12fd5bd2c56e835492a58d3bcd4915d24473e889b70f2c/azure-storage-blob-12.20.0.tar.gz", hash = "sha256:eeb91256e41d4b5b9bad6a87fd0a8ade07dd58aa52344e2c8d2746e27a017d3b", size = 551196 }
+sdist = { url = "https://files.pythonhosted.org/packages/97/c9/0e1e864eef8071102de2d6b11dfcf8d35410735145b2fbc2e0a5f58d1490/azure-storage-blob-12.21.0.tar.gz", hash = "sha256:b9722725072f5b7373c0f4dd6d78fbae2bb37bffc5c3e01731ab8c750ee8dd7e", size = 557430 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/f4/da/4033cee3855395e84ff73da4b50d3528f9338205299cde89676639387fcc/azure_storage_blob-12.21.0-py3-none-any.whl", hash = "sha256:f9ede187dd5a0ef296b583a7c1861c6938ddd6708d6e70f4203a163c2ab42d43", size = 396449 },
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 [[distribution]]
@@ -439,36 +439,31 @@ sdist = { url = "https://files.pythonhosted.org/packages/6b/b0/e595ce2a2527e169c
 
 [[distribution]]
 name = "cryptography"
-version = "42.0.8"
+version = "43.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
 ]
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     { name = "alabaster" },
@@ -5253,9 +5248,9 @@ dependencies = [
     { name = "sphinxcontrib-qthelp" },
     { name = "sphinxcontrib-serializinghtml" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/c3/7a/bc303eb950025a2cfa8f6968471fda8b28e8114621e2ab43f518094a4225/sphinx-7.4.3.tar.gz", hash = "sha256:bd846bcb09fd2b6e94ce3e1ad50f4618bccf03cc7c17d0f3fa87393c0bd9178b", size = 8113870 }
+sdist = { url = "https://files.pythonhosted.org/packages/5b/be/50e50cb4f2eff47df05673d361095cafd95521d2a22521b920c67a372dcb/sphinx-7.4.7.tar.gz", hash = "sha256:242f92a7ea7e6c5b406fdc2615413890ba9f699114a9c09192d7dfead2ee9cfe", size = 8067911 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c9/b8/8594be28e66d19c287c13dbc609a7695e5330ea59abce654a3f41b8a589e/sphinx-7.4.3-py3-none-any.whl", hash = "sha256:a3c295d0e8be6277e0a5ba5c6909a308bd208876b0f4f68c7cc591f566129412", size = 3454542 },
+    { url = "https://files.pythonhosted.org/packages/0d/ef/153f6803c5d5f8917dbb7f7fcf6d34a871ede3296fa89c2c703f5f8a6c8e/sphinx-7.4.7-py3-none-any.whl", hash = "sha256:c2419e2135d11f1951cd994d6eb18a1835bd8fdd8429f9ca375dc1f3281bd239", size = 3401624 },
 ]
 
 [[distribution]]
@@ -5278,11 +5273,11 @@ wheels = [
 
 [[distribution]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.5"
+version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/8a/03/2f9d699fbfdf03ecb3b6d0e2a268a8998d009f2a9f699c2dcc936899257d/sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015", size = 21925 }
+sdist = { url = "https://files.pythonhosted.org/packages/92/d9/a1c50c8a7b5e12f34bf4d63300a1e2629c29b71603115d900c0fa7c79219/sphinxcontrib_htmlhelp-2.0.6.tar.gz", hash = "sha256:c6597da06185f0e3b4dc952777a04200611ef563882e0c244d27a15ee22afa73", size = 21957 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c2/e9/74c4cda5b409af3222fda38f0774e616011bc935f639dbc0da5ca2d1be7d/sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04", size = 99217 },
+    { url = "https://files.pythonhosted.org/packages/a4/b4/6ebbdc57b5b216b400b355f34ef669e9b6b5c31a6ede8cf5ac36f9e8fc0c/sphinxcontrib_htmlhelp-2.0.6-py3-none-any.whl", hash = "sha256:1b9af5a2671a61410a868fce050cab7ca393c218e6205cbc7f590136f207395c", size = 99225 },
 ]
 
 [[distribution]]
@@ -5296,11 +5291,11 @@ wheels = [
 
 [[distribution]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.7"
+version = "1.0.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ac/29/705cd4e93e98a8473d62b5c32288e6de3f0c9660d3c97d4e80d3dbbad82b/sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6", size = 16685 }
+sdist = { url = "https://files.pythonhosted.org/packages/a6/67/f5c7df6457315877202f370450acb28626d033822eec1e8163600612b4ef/sphinxcontrib_qthelp-1.0.8.tar.gz", hash = "sha256:db3f8fa10789c7a8e76d173c23364bdf0ebcd9449969a9e6a3dd31b8b7469f03", size = 16778 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/80/b3/1beac14a88654d2e5120d0143b49be5ad450b86eb1963523d8dbdcc51eb2/sphinxcontrib_qthelp-1.0.7-py3-none-any.whl", hash = "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182", size = 89441 },
+    { url = "https://files.pythonhosted.org/packages/cf/91/cec9416d27ebe9b8aa83f014a1ac8402c729aed791da67704e10bb2c8f33/sphinxcontrib_qthelp-1.0.8-py3-none-any.whl", hash = "sha256:323d6acc4189af76dfe94edd2a27d458902319b60fcca2aeef3b2180c106a75f", size = 89456 },
 ]
 
 [[distribution]]
@@ -5320,14 +5315,14 @@ sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/401c0a7be089e0282
 
 [[distribution]]
 name = "sympy"
-version = "1.13.0"
+version = "1.13.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "mpmath" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/cb/f5/8c7d91ce35816b72c2dd061dc4a33f00f59053aeffe881d42aed17279381/sympy-1.13.0.tar.gz", hash = "sha256:3b6af8f4d008b9a1a6a4268b335b984b23835f26d1d60b0526ebc71d48a25f57", size = 7532455 }
+sdist = { url = "https://files.pythonhosted.org/packages/ca/99/5a5b6f19ff9f083671ddf7b9632028436167cd3d33e11015754e41b249a4/sympy-1.13.1.tar.gz", hash = "sha256:9cebf7e04ff162015ce31c9c6c9144daa34a93bd082f54fd8f12deca4f47515f", size = 7533040 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/74/7e6c65ee89ff43942bffffdbb238634f16967bf327aee3c76efcf6e49587/sympy-1.13.0-py3-none-any.whl", hash = "sha256:6b0b32a4673fb91bd3cac3b55406c8e01d53ae22780be467301cc452f6680c92", size = 6188245 },
+    { url = "https://files.pythonhosted.org/packages/b2/fe/81695a1aa331a842b582453b605175f419fe8540355886031328089d840a/sympy-1.13.1-py3-none-any.whl", hash = "sha256:db36cdc64bf61b9b24578b6f7bab1ecdd2452cf008f34faa33776680c26d66f8", size = 6189177 },
 ]
 
 [[distribution]]

From dcdac84f0c7944433f262af903a39e6b5d3a026a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 22 Jul 2024 11:45:39 -0700
Subject: [PATCH 162/247] ci: bring back aarch64 (#33017)

* casadi wheel

* ci

* test 312

* test with new aarch64 build

* use release wheels

* assert

* bool

* try this

* maybe

* work

* use final wheel
---
 .github/workflows/selfdrive_tests.yaml  | 26 ++++++++++++++++++++++---
 pyproject.toml                          |  3 ++-
 selfdrive/ui/SConscript                 |  2 +-
 third_party/libyuv/larch64/lib/libyuv.a |  4 ++--
 uv.lock                                 | 14 ++++++++++++-
 5 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8968b493cf4083..42c1dbb5ebdefb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -74,8 +74,11 @@ jobs:
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
-    runs-on: ubuntu-latest
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -84,7 +87,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
@@ -118,6 +121,23 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
diff --git a/pyproject.toml b/pyproject.toml
index 126e122ab357eb..1226c8345a3db2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -52,7 +52,8 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi",
+  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
+  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
   "future-fstrings",
 
   # these should be removed
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 9046ecc2280470..c6b4860bf7f1c4 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -109,7 +109,7 @@ if GetOption('extras') and arch != "Darwin":
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
-    assert f[0].get_size() < 350*1e3
+    assert f[0].get_size() < 370*1e3
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
index fd18814ef1dc9a..1c91250231fa88 100644
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ b/third_party/libyuv/larch64/lib/libyuv.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:85e765be665eab8ce8b64d6a884148e0ff3905fadcef6c0daa75e4efd84bb5cb
-size 499734
+oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
+size 462482
diff --git a/uv.lock b/uv.lock
index 7808954e726d49..8a0dc29b2a60e8 100644
--- a/uv.lock
+++ b/uv.lock
@@ -227,6 +227,17 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/88/08/c55e2172f033a44b831ee771bb32fa89c369311c0598a52c03755f29a75e/casadi-3.6.5-cp312-none-win_amd64.whl", hash = "sha256:fe2b64d777e36cc3f101220dd1e219a0e11c3e4ee2b5e708b30fea9a27107e41", size = 43057681 },
 ]
 
+[[distribution]]
+name = "casadi"
+version = "3.6.6"
+source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }
+dependencies = [
+    { name = "numpy" },
+]
+wheels = [
+    { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" },
+]
+
 [[distribution]]
 name = "certifi"
 version = "2024.7.4"
@@ -1519,7 +1530,8 @@ source = { editable = "." }
 dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
-    { name = "casadi" },
+    { name = "casadi", version = "3.6.5", source = { registry = "https://pypi.org/simple" }, marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "casadi", version = "3.6.6", source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }, marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
     { name = "cffi" },
     { name = "crcmod" },
     { name = "cython" },

From 1da71f5c3c3234e9c6c7486437adfb3bf41181f5 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 22 Jul 2024 11:51:39 -0700
Subject: [PATCH 163/247] [bot] Bump submodules (#33036)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc | 2 +-
 panda   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc b/opendbc
index 5ba787024f53a0..cff2af8ff86904 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679
+Subproject commit cff2af8ff8690466109f56be62129ebfb85cd5dc
diff --git a/panda b/panda
index b4e3d5cdd2dec2..f6375848ca393a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d
+Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20

From 5e0aff92ae24952bfb13271c7875e89487da5b31 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 22 Jul 2024 15:05:03 -0400
Subject: [PATCH 164/247] tools/Rerun: Add video logging features (#32810)

* working

* multiprocessing

* fix that

* print services

* all services + fix

* less verbose

* start readme

* segment range

* cleanup

* update readme + fix bug in 'all'

* cleanup + update readme

* update readme

* cleanup

* cleanup

* rm frame_iter

* cleanup

* staticmethod

* proc kill

* split files

* fix range with hevc vids

* update reamde + add prompt

* readme

* readme

* readme
---
 tools/rerun/README.md        |  57 ++++++++++
 tools/rerun/camera_reader.py |  92 +++++++++++++++
 tools/rerun/run.py           | 214 ++++++++++++++++++++++++-----------
 3 files changed, 299 insertions(+), 64 deletions(-)
 create mode 100644 tools/rerun/README.md
 create mode 100644 tools/rerun/camera_reader.py

diff --git a/tools/rerun/README.md b/tools/rerun/README.md
new file mode 100644
index 00000000000000..0fd50e1562617f
--- /dev/null
+++ b/tools/rerun/README.md
@@ -0,0 +1,57 @@
+# Rerun
+Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
+
+[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
+
+## Usage
+```
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+
+A helper to run rerun on openpilot routes
+
+options:
+  -h, --help                  show this help message and exit
+  --demo                      Use the demo route instead of providing one (default: False)
+  --qcam                      Log decimated driving camera (default: False)
+  --fcam                      Log driving camera (default: False)
+  --ecam                      Log wide camera (default: False)
+  --dcam                      Log driver monitoring camera (default: False)
+  --print_services            List out openpilot services (default: False)
+  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
+                              To log all services include 'all' as one of your services (default: [])
+  --route [ROUTE]             The route or segment name to plot (default: None)
+```
+
+Examples using route name to observe accelerometer and qcamera:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
+
+`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+
+## Cautions:
+- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
+
+- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
+
+This example draws 13GB of memory:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+
+## Openpilot services
+To list all openpilot services:
+
+`./run.py --print_services`
+
+Examples including openpilot services:
+
+`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+Examples including all services:
+
+`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+## Demo
+`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
new file mode 100644
index 00000000000000..325fad18b8ecfa
--- /dev/null
+++ b/tools/rerun/camera_reader.py
@@ -0,0 +1,92 @@
+import tqdm
+import subprocess
+import multiprocessing
+from enum import StrEnum
+from functools import partial
+from collections import namedtuple
+
+from openpilot.tools.lib.framereader import ffprobe
+
+CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
+
+class CameraType(StrEnum):
+  qcam = "qcamera"
+  fcam = "fcamera"
+  ecam = "ecamera"
+  dcam = "dcamera"
+
+
+def probe_packet_info(camera_path):
+  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
+  dat = subprocess.check_output(args)
+  dat = dat.decode().split()
+  return dat
+
+
+class _FrameReader:
+  def __init__(self, camera_path, segment, h, w, start_time):
+    self.camera_path = camera_path
+    self.segment = segment
+    self.h = h
+    self.w = w
+    self.start_time = start_time
+
+    self.ts = self._get_ts()
+
+  def _read_stream_nv12(self):
+    frame_sz = self.w * self.h * 3 // 2
+    proc = subprocess.Popen(
+             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdout=subprocess.PIPE,
+             stderr=subprocess.DEVNULL
+           )
+    try:
+      while True:
+        dat = proc.stdout.read(frame_sz)
+        if len(dat) == 0:
+          break
+        yield dat
+    finally:
+      proc.kill()
+
+  def _get_ts(self):
+    dat = probe_packet_info(self.camera_path)
+    try:
+      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
+    except ValueError:
+      # pts_times aren't available. Infer timestamps from duration_times
+      ret = [d for d in dat if d.startswith("duration_time")]
+      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
+    return ret
+
+  def __iter__(self):
+    for i, frame in enumerate(self._read_stream_nv12()):
+      yield self.ts[i], frame
+
+
+class CameraReader:
+  def __init__(self, camera_paths, start_time, seg_idxs):
+    self.seg_idxs = seg_idxs
+    self.camera_paths = camera_paths
+    self.start_time = start_time
+
+    probe = ffprobe(camera_paths[0])["streams"][0]
+    self.h = probe["height"]
+    self.w = probe["width"]
+
+    self.__frs = {}
+
+  def _get_fr(self, i):
+    if i not in self.__frs:
+      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
+    return self.__frs[i]
+
+  def _run_on_segment(self, func, i):
+    return func(self._get_fr(i))
+
+  def run_across_segments(self, num_processes, func):
+    with multiprocessing.Pool(num_processes) as pool:
+      num_segs = len(self.seg_idxs)
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
+        continue
+
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 9975478a732e44..421785a2d56b08 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -6,84 +6,170 @@
 import rerun.blueprint as rrb
 from functools import partial
 
-from openpilot.tools.lib.logreader import LogReader
 from cereal.services import SERVICE_LIST
+from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
 
 
 NUM_CPUS = multiprocessing.cpu_count()
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RR_TIMELINE_NAME = "Timeline"
+RR_WIN = "rerun_test"
+
+
+class Rerunner:
+  def __init__(self, route, segment_range, camera_config, enabled_services):
+    self.enabled_services = [s.lower() for s in enabled_services]
+    self.log_all = "all" in self.enabled_services
+    self.lr = LogReader(route_or_segment_name)
+
+    # hevc files don't have start_time. We get it from qcamera.ts
+    start_time = 0
+    dat = probe_packet_info(r.qcamera_paths()[0])
+    for d in dat:
+      if d.startswith("pts_time="):
+        start_time = float(d.split('=')[1])
+        break
+
+    qcam, fcam, ecam, dcam = camera_config
+    self.camera_readers = {}
+    if qcam:
+      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
+    if fcam:
+      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
+    if ecam:
+      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
+    if dcam:
+      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
+
+  def _start_rerun(self):
+    self.blueprint = self._create_blueprint()
+    rr.init(RR_WIN, spawn=True)
+
+  def _create_blueprint(self):
+    blueprint = None
+    service_views = []
+
+    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
+    for topic in sorted(SERVICE_LIST.keys()):
+      if not self.log_all and topic.lower() not in self.enabled_services:
+        continue
+      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+
+    blueprint = rrb.Blueprint(
+      rrb.Horizontal(
+        rrb.Vertical(*service_views),
+        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
+      ),
+      rrb.SelectionPanel(expanded=False),
+      rrb.TimePanel(expanded=False)
+    )
+    return blueprint
+
+  @staticmethod
+  def _log_msg(msg, parent_key=''):
+    stack = [(msg, parent_key)]
+    while stack:
+      current_msg, current_parent_key = stack.pop()
+      if isinstance(current_msg, list):
+        for index, item in enumerate(current_msg):
+          new_key = f"{current_parent_key}/{index}"
+          if isinstance(item, (int, float)):
+            rr.log(new_key, rr.Scalar(item))
+          elif isinstance(item, dict):
+            stack.append((item, new_key))
+      elif isinstance(current_msg, dict):
+        for key, value in current_msg.items():
+          new_key = f"{current_parent_key}/{key}"
+          if isinstance(value, (int, float)):
+            rr.log(new_key, rr.Scalar(value))
+          elif isinstance(value, dict):
+            stack.append((value, new_key))
+          elif isinstance(value, list):
+            for index, item in enumerate(value):
+              if isinstance(item, (int, float)):
+                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+      else:
+        pass  # Not a plottable value
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    for msg in lr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
+      msg_type = msg.which()
+
+      if not log_all and msg_type.lower() not in enabled_services:
+        continue
+
+      if msg_type != "thumbnail":
+        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
+      else:
+        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+
+    return []
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_cam_readers(blueprint, cam_type, h, w, fr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    size_hint = (h, w)
+    for ts, frame in fr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
+      rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint)))
+
+  def load_data(self):
+    self._start_rerun()
+    if len(self.enabled_services) > 0:
+      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    for cam_type, cr in self.camera_readers.items():
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
 
-def log_msg(msg, parent_key=''):
-  stack = [(msg, parent_key)]
-  while stack:
-    current_msg, current_parent_key = stack.pop()
-    if isinstance(current_msg, list):
-      for index, item in enumerate(current_msg):
-        new_key = f"{current_parent_key}/{index}"
-        if isinstance(item, (int, float)):
-          rr.log(str(new_key), rr.Scalar(item))
-        elif isinstance(item, dict):
-          stack.append((item, new_key))
-    elif isinstance(current_msg, dict):
-      for key, value in current_msg.items():
-        new_key = f"{current_parent_key}/{key}"
-        if isinstance(value, (int, float)):
-          rr.log(str(new_key), rr.Scalar(value))
-        elif isinstance(value, dict):
-          stack.append((value, new_key))
-        elif isinstance(value, list):
-          for index, item in enumerate(value):
-            if isinstance(item, (int, float)):
-              rr.log(f"{new_key}/{index}", rr.Scalar(item))
-    else:
-      pass  # Not a plottable value
-
-def createBlueprint():
-  blueprint = None
-  timeSeriesViews = []
-  for topic in sorted(SERVICE_LIST.keys()):
-    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
-    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
-                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
-  return blueprint
-
-def log_thumbnail(thumbnailMsg):
-  bytesImgData = thumbnailMsg.get('thumbnail')
-  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
-
-@rr.shutdown_at_exit
-def process(blueprint, lr):
-  rr.init("rerun_test")
-  rr.connect(default_blueprint=blueprint)
-
-  ret = []
-  for msg in lr:
-    ret.append(msg)
-    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
-    if msg.which() != "thumbnail":
-      log_msg(msg.to_dict()[msg.which()], msg.which())
-    else:
-      log_thumbnail(msg.to_dict()[msg.which()])
-  return ret
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+  parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera")
+  parser.add_argument("--fcam", action="store_true", help="Log driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Log wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera")
+  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
+  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
+                                                                No service will be logged if not specified.\
+                                                                To log all services include 'all' as one of your services")
+  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
+  args = parser.parse_args()
 
-  if len(sys.argv) == 1:
+  if not args.demo and not args.route:
     parser.print_help()
     sys.exit()
 
-  args = parser.parse_args()
+  if args.print_services:
+    print("\n".join(SERVICE_LIST.keys()))
+    sys.exit()
+
+  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
+  sr = SegmentRange(route_or_segment_name)
+  r = Route(sr.route_name)
+
+  if len(sr.seg_idxs) > 10:
+    print("You're requesting more than 10 segments of the route, " + \
+          "please be aware that might take a lot of memory")
+    response = input("Do you wish to continue? (Y/n): ")
+    if response.strip() != "Y":
+      sys.exit()
 
-  blueprint = createBlueprint()
-  rr.init("rerun_test")
-  rr.spawn(connect=False) # child processes stream data to Viewer
+  rerunner = Rerunner(r, sr, camera_config, args.services)
+  rerunner.load_data()
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  print("Getting route log paths")
-  lr = LogReader(route_or_segment_name)
-  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))

From 8d77cea3a509ac80c18ecdd705a9f01754d1cb2c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 22 Jul 2024 13:05:57 -0700
Subject: [PATCH 165/247] [bot] Fingerprints: add missing FW versions from new
 users (#33038)

Export fingerprints
---
 selfdrive/car/chrysler/fingerprints.py | 3 +++
 selfdrive/car/hyundai/fingerprints.py  | 1 +
 2 files changed, 4 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5528bfd5d55fdf..74a5368145a2e4 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -26,6 +26,7 @@
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'04672758AB',
       b'68226356AF',
       b'68226356AH',
       b'68226356AI',
@@ -47,6 +48,7 @@
       b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
+      b'68366853AG ',
       b'68372861AF ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -60,6 +62,7 @@
       b'68277374AD',
       b'68277374AN',
       b'68367471AC',
+      b'68367471AD',
       b'68380571AB',
     ],
   },
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 4c659f053f3cec..a9ab8bb79e5457 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -408,6 +408,7 @@
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',

From a654e5bd05811a896005ebb41bc2f15dcf443b5d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Jul 2024 12:09:00 -0800
Subject: [PATCH 166/247] espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE`
 (#33003)

* espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE`

* only stock long

* just soft disable for now

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/controls/lib/events.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 25833da741879c..588e638c957261 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -832,7 +832,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   },
 
   EventName.espActive: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"),
     ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
   },
 

From bd00a9d800c1cf308feb2bf85f7fde11d6f0ff7b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 22 Jul 2024 13:36:53 -0700
Subject: [PATCH 167/247] [bot] Fingerprints: add missing FW versions from new
 users (#33039)

Export fingerprints
---
 selfdrive/car/chrysler/fingerprints.py | 9 +++++++++
 selfdrive/car/hyundai/fingerprints.py  | 3 +++
 selfdrive/car/toyota/fingerprints.py   | 2 ++
 3 files changed, 14 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 74a5368145a2e4..5198c661d74613 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -390,6 +390,7 @@
       b'68294051AI',
       b'68294052AG',
       b'68294052AH',
+      b'68294059AI',
       b'68294063AG',
       b'68294063AH',
       b'68294063AI',
@@ -400,6 +401,7 @@
       b'68434858AC',
       b'68434859AC',
       b'68434860AC',
+      b'68453471AD',
       b'68453483AC',
       b'68453483AD',
       b'68453487AD',
@@ -424,11 +426,13 @@
       b'68527346AE',
       b'68527361AD',
       b'68527375AD',
+      b'68527381AD',
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
       b'68527383AE',
       b'68527387AE',
+      b'68527397AD',
       b'68527403AC',
       b'68527403AD',
       b'68546047AF',
@@ -519,6 +523,7 @@
       b'05036066AE ',
       b'05036193AA ',
       b'05149368AA ',
+      b'05149374AA ',
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
@@ -549,6 +554,7 @@
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
+      b'68460927AA ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -567,6 +573,7 @@
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
+      b'68586102AA ',
       b'68586105AB ',
       b'68629919AC ',
       b'68629922AC ',
@@ -605,6 +612,8 @@
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',
+      b'68520871AC',
+      b'68528325AE',
       b'68540431AB',
       b'68540433AB',
       b'68551676AA',
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index a9ab8bb79e5457..30e4b9ed748043 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -292,6 +292,7 @@
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
@@ -482,11 +483,13 @@
   },
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index a4d0ad1707d911..37c69b54fbecb6 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1152,6 +1152,7 @@
   },
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R440\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R50000\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
@@ -1173,6 +1174,7 @@
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AJ3000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
       b'\x01896634AL8000\x00\x00\x00\x00',

From fb3336614484553456bee6c2116b729177ecbc46 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 24 Jul 2024 00:27:10 +0800
Subject: [PATCH 168/247] Fix FutureWarning "Cython directive 'language_level'
 not set" (#33046)

fix FutureWarning
---
 selfdrive/modeld/models/commonmodel_pyx.pyx  | 2 +-
 selfdrive/modeld/runners/runmodel_pyx.pyx    | 2 +-
 selfdrive/modeld/runners/snpemodel_pyx.pyx   | 2 +-
 selfdrive/modeld/runners/thneedmodel_pyx.pyx | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index e292bb0d2da6c5..ecbe644e0945bd 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import numpy as np
 cimport numpy as cnp
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index e1b201a6a92742..12b8ec10ff8fe9 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp.string cimport string
 
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
index c3b2b7e9bd3db4..f83b7c8cff389a 100644
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import os
 from libcpp cimport bool
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
index 53487afa1bf582..6f8fdd255fa5bb 100644
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp cimport bool
 from libcpp.string cimport string

From 93eb7ee0cc5af0d7c86248cbcafad86dd374976f Mon Sep 17 00:00:00 2001
From: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com>
Date: Tue, 23 Jul 2024 12:35:19 -0500
Subject: [PATCH 169/247] README.md: 275+ cars (#33048)

275+ cars
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index db74ee6a1a2792..5afaf6e7d60991 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ To start using openpilot in a car
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
 2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

From d828ac43444dad2d25dafcd4ba7543230b1f156f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:11:31 -0700
Subject: [PATCH 170/247] CI: setup triggering jenkins for forks (#33049)

---
 .github/workflows/jenkins-pr-trigger.yaml | 50 +++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 .github/workflows/jenkins-pr-trigger.yaml

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
new file mode 100644
index 00000000000000..42ef4a7391402b
--- /dev/null
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -0,0 +1,50 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: github.event.issue.pull_request != null
+    steps:
+    - name: Check if comment contains trigger phrase and is from someone with write access
+      id: check_comment
+      uses: actions/github-script@v6
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: boolean
+
+    - name: Set PR number
+      id: set_pr_number
+      if: steps.check_comment.outputs.result == 'true'
+      run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: ${{ github.event.issue.pull_request.head.ref }}
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ env.PR_NUMBER }}
+        git push -f origin tmp-jenkins-${{ env.PR_NUMBER }}

From e7ec1b8ff16feeb3d02200c95692aa4bcb402337 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:14:00 -0700
Subject: [PATCH 171/247] json encoding

---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index 42ef4a7391402b..10c601777d5bf5 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -28,7 +28,7 @@ jobs:
           const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
 
           return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: boolean
+        result-encoding: json
 
     - name: Set PR number
       id: set_pr_number

From ef5d6a0466dd2ebf0b5595150b68b3c59722f397 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:27:56 -0700
Subject: [PATCH 172/247] jenkins trigger fixups

---
 .github/workflows/jenkins-pr-trigger.yaml | 19 +++++++------------
 1 file changed, 7 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index 10c601777d5bf5..acdf5feb86918c 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -2,17 +2,17 @@ name: jenkins scan
 
 on:
   issue_comment:
-    types: [created]
+    types: [created, edited]
 
 jobs:
   # TODO: gc old branches in a separate job in this workflow
   scan-comments:
     runs-on: ubuntu-latest
-    if: github.event.issue.pull_request != null
+    if: ${{ github.event.issue.pull_request }}
     steps:
-    - name: Check if comment contains trigger phrase and is from someone with write access
+    - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v6
+      uses: actions/github-script@v7
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -30,21 +30,16 @@ jobs:
           return (hasWriteAccess && comment.includes(triggerPhrase));
         result-encoding: json
 
-    - name: Set PR number
-      id: set_pr_number
-      if: steps.check_comment.outputs.result == 'true'
-      run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV
-
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
       uses: actions/checkout@v4
       with:
-        ref: ${{ github.event.issue.pull_request.head.ref }}
+        ref: refs/pull/${{ github.event.issue.number }}/head
 
     - name: Push to tmp-jenkins branch
       if: steps.check_comment.outputs.result == 'true'
       run: |
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ env.PR_NUMBER }}
-        git push -f origin tmp-jenkins-${{ env.PR_NUMBER }}
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From 29d0bfe1ab832832f027c899e337551fd8716a49 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:32:51 -0700
Subject: [PATCH 173/247] skip lfs

---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index acdf5feb86918c..eb2a7271be4b33 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -42,4 +42,4 @@ jobs:
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From 9b8c1693c9c74bae87c44615e90fc372c551900c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:41:27 -0700
Subject: [PATCH 174/247] skip push

---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index eb2a7271be4b33..db1d5240188ae2 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -42,4 +42,4 @@ jobs:
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From fbbd4ee692d2f84b90bfaf93499c6360e5bdad2b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 24 Jul 2024 02:53:40 +0800
Subject: [PATCH 175/247] Fix `/usr/bin/ld: skipping incompatible
 /usr/lib/libgcc_s.so.1` warnings (#33047)

fix incompatible lib warning
---
 SConstruct | 1 -
 1 file changed, 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 0c4dbee18e2a15..1f83b1e43dc590 100644
--- a/SConstruct
+++ b/SConstruct
@@ -102,7 +102,6 @@ if arch == "larch64":
 
   libpath = [
     "/usr/local/lib",
-    "/usr/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
   ]

From 3bc1b173d2390a93b0c31090861bbc597eff4d2c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 23 Jul 2024 13:55:30 -0700
Subject: [PATCH 176/247] Longcontrol: engage into stopped state when needed
 (#33042)

test stay stopped
---
 selfdrive/controls/lib/longcontrol.py        | 14 +++--
 selfdrive/controls/tests/test_longcontrol.py | 56 ++++++++++++++++++++
 2 files changed, 65 insertions(+), 5 deletions(-)
 create mode 100644 selfdrive/controls/tests/test_longcontrol.py

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index e4841c705f1dd0..efeb76c4a86dbb 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -22,22 +22,26 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
     long_control_state = LongCtrlState.off
 
   else:
-    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
-      long_control_state = LongCtrlState.pid
-      if stopping_condition:
+    if long_control_state == LongCtrlState.off:
+      if not starting_condition:
         long_control_state = LongCtrlState.stopping
+      else:
+        if starting_condition and CP.startingState:
+          long_control_state = LongCtrlState.starting
+        else:
+          long_control_state = LongCtrlState.pid
+
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
         long_control_state = LongCtrlState.starting
       elif starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state == LongCtrlState.starting:
+    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
       elif started_condition:
         long_control_state = LongCtrlState.pid
-
   return long_control_state
 
 class LongControl:
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
new file mode 100644
index 00000000000000..ab50810d894f61
--- /dev/null
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -0,0 +1,56 @@
+from cereal import car
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+
+
+
+
+class TestLongControlStateTransition:
+
+  def test_stay_stopped(self):
+    CP = car.CarParams.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
+    active = False
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+def test_engage():
+  CP = car.CarParams.new_message()
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+def test_starting():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  active = True
+  current_state = LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid

From 1e9738131d7737cbc9af161cf829c83c67577970 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 14:52:08 -0700
Subject: [PATCH 177/247] don't lock when installing python packages (#33051)

frozen
---
 tools/install_python_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 276de58db70b0e..a90462888fb80f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -34,7 +34,7 @@ update_uv
 
 # TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv --no-cache sync --all-extras
+uv --no-cache sync --frozen --all-extras
 source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env

From f60dfd4dbb5d33bb1ec36c550742d185e2c4bf78 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 21:47:07 -0700
Subject: [PATCH 178/247] op tool helper (#33053)

* op

* change this

* juggler

* options

* fix

* submodules

* typo

* venv

* clean + install
---
 tools/op.sh | 262 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 262 insertions(+)
 create mode 100755 tools/op.sh

diff --git a/tools/op.sh b/tools/op.sh
new file mode 100755
index 00000000000000..d8a3f4b809f196
--- /dev/null
+++ b/tools/op.sh
@@ -0,0 +1,262 @@
+#!/bin/bash
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+function op_first_install() {
+  (set -e
+
+  echo "Installing op system-wide..."
+  RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+  if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
+
+  )
+}
+
+# be default, assume openpilot dir is in current directory
+OPENPILOT_ROOT=$(pwd)
+function op_check_openpilot_dir() {
+  (set -e
+
+  if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then
+    echo "openpilot directory not found!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_git() {
+  (set -e
+
+  cd $OPENPILOT_ROOT
+
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n"
+  fi
+
+  echo "Checking for git lfs files..."
+  if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n"
+  fi
+
+  echo "Checking for git submodules..."
+  if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then
+    echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n"
+  fi
+
+  )
+}
+
+function op_check_os() {
+  (set -e
+
+  echo "Checking for compatible os version..."
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+
+    if [ -f "/etc/os-release" ]; then
+      source /etc/os-release
+      case "$VERSION_CODENAME" in
+        "jammy" | "kinetic" | "noble" | "focal")
+          OS_VERSION="Ubuntu"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          ;;
+        * )
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          return 1
+          ;;
+      esac
+    else
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      return 1
+    fi
+
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
+    OS_VERSION="Darwin"
+  else
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_python() {
+  (set -e
+
+  echo "Checking for compatible python version..."
+  export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ')
+  if ! command -v "python3" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+    return 1
+  else
+    if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then
+      echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n"
+    else
+      echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+      return 1
+    fi
+  fi
+
+  )
+}
+
+# this must be run in the same shell as the user calling "op"
+function op_venv() {
+  op_check_openpilot_dir || return 1
+  source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+}
+
+function op_check() {
+  (set -e
+
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+  op_check_git
+  op_check_os
+  op_check_python
+
+  )
+}
+
+function op_run() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+  $OPENPILOT_ROOT/launch_openpilot.sh
+
+  )
+}
+
+function op_install() {
+  (set -e
+
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  op_check_os
+  op_check_python
+
+  case "$OS_VERSION" in
+    "Ubuntu")
+      $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+      ;;
+    "Darwin")
+      $OPENPILOT_ROOT/tools/mac_setup.sh
+      ;;
+  esac
+
+  git submodules update --init --recursive
+  git lfs pull
+
+  )
+}
+
+function op_build() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?"
+
+  )
+}
+
+function op_juggle() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+
+  )
+}
+
+function op_default() {
+  echo "An openpilot helper"
+  echo ""
+  echo -e "\e[4mUsage:\e[0m op [OPTIONS] <COMMAND>"
+  echo ""
+  echo -e "\e[4mCommands:\e[0m"
+  echo "  venv       Activate the virtual environment"
+  echo "  check      Check system requirements (git, os, python) to start using openpilot"
+  echo "  install    Install requirements to use openpilot"
+  echo "  build      Build openpilot"
+  echo "  run        Run openpilot"
+  echo "  juggle     Run Plotjuggler"
+  echo "  help       Show this message"
+  echo "  --install  Install this tool system wide"
+  echo ""
+  echo -e "\e[4mOptions:\e[0m"
+  echo "  -d, --dir"
+  echo "          Specify the openpilot directory you want to use"
+  echo "          Default to the current working directory"
+  echo ""
+  echo -e "\e[4mExamples:\e[0m"
+  echo "  op --dir /tmp/openpilot check"
+  echo "          Run the check command on openpilot located in /tmp/openpilot"
+  echo ""
+  echo "  op juggle --install"
+  echo "          Install plotjuggler in the openpilot located in your current"
+  echo "          working directory"
+  echo ""
+  echo "  op --dir /tmp/openpilot build -j4"
+  echo "          Run the build command on openpilot located in /tmp/openpilot"
+  echo "          on 4 cores"
+}
+
+
+function _op() {
+  # parse Options
+  case $1 in
+    -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+  esac
+
+  # parse Commands
+  case $1 in
+    venv )      shift 1; op_venv "$@" ;;
+    check )     shift 1; op_check "$@" ;;
+    install )   shift 1; op_install "$@" ;;
+    build )     shift 1; op_build "$@" ;;
+    run )       shift 1; op_run "$@" ;;
+    juggle )    shift 1; op_juggle "$@" ;;
+    --install ) shift 1; op_first_install "$@" ;;
+    * ) op_default "$@" ;;
+  esac
+}
+
+_op $@
+
+# remove from env
+unset -f _op
+unset -f op_check
+unset -f op_install
+unset -f op_build
+unset -f op_run
+unset -f op_juggle
+unset -f op_venv
+unset -f op_check_openpilot_dir
+unset -f op_check_git
+unset -f op_check_python
+unset -f op_check_os
+unset -f op_first_install
+unset -f op_default

From 3382002cd03604710f39d01f19a37f4bb66b7cdf Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 22:34:21 -0700
Subject: [PATCH 179/247] Update op.sh

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index d8a3f4b809f196..f7caa9d047115b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -163,7 +163,7 @@ function op_install() {
       ;;
   esac
 
-  git submodules update --init --recursive
+  git submodule update --init --recursive
   git lfs pull
 
   )

From 18c310addf7e19688f6cfc4530026b281ac7e75f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 23:04:42 -0700
Subject: [PATCH 180/247] Update op.sh

---
 tools/op.sh | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index f7caa9d047115b..bbc4ded445acda 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,6 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          OS_VERSION="Ubuntu"
           echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
           ;;
         * )
@@ -88,7 +87,6 @@ function op_check_os() {
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
-    OS_VERSION="Darwin"
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
@@ -154,14 +152,11 @@ function op_install() {
   op_check_os
   op_check_python
 
-  case "$OS_VERSION" in
-    "Ubuntu")
-      $OPENPILOT_ROOT/tools/ubuntu_setup.sh
-      ;;
-    "Darwin")
-      $OPENPILOT_ROOT/tools/mac_setup.sh
-      ;;
-  esac
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    $OPENPILOT_ROOT/tools/mac_setup.sh
+  fi
 
   git submodule update --init --recursive
   git lfs pull

From bd8dd65ce0e5477100e07f33d2b237111e922c62 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 25 Jul 2024 00:42:31 +0800
Subject: [PATCH 181/247] ui: fix wayland requestActivate warning on device
 (#33054)

fix wayland requestActivate warning in fullscreen mode
---
 selfdrive/ui/qt/qt_window.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index f71cea04e9da8c..8d3d7cf72e400f 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -18,7 +18,9 @@ void setMainWindow(QWidget *w) {
   wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
   wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
   wl_surface_commit(s);
-  w->showFullScreen();
+
+  w->setWindowState(Qt::WindowFullScreen);
+  w->setVisible(true);
 
   // ensure we have a valid eglDisplay, otherwise the ui will silently fail
   void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());

From 0fa6745a67b60a572cfa4060d8155ac50f4e4e06 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 25 Jul 2024 01:07:10 +0800
Subject: [PATCH 182/247] camerad: refactor camera_open() into separate
 functions for clarity (#33056)

split function
---
 system/camerad/cameras/camera_qcom2.cc | 32 +++++++++++++++++++-------
 system/camerad/cameras/camera_qcom2.h  |  5 ++++
 2 files changed, 29 insertions(+), 8 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 47ea5ded4d8e0d..7c1f8e44e7ed37 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -469,6 +469,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   enabled = enabled_;
   if (!enabled) return;
 
+  if (!openSensor()) {
+    return;
+  }
+
+  configISP();
+  configCSIPHY();
+  linkDevices();
+}
+
+bool CameraState::openSensor() {
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
@@ -493,7 +503,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
       !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
-    return;
+    return false;
   }
   LOGD("-- Probing sensor %d success", camera_num);
 
@@ -512,7 +522,10 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   LOG("-- Configuring sensor");
   sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  return true;
+}
 
+void CameraState::configISP() {
   // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
   // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
   if (!enabled) return;
@@ -570,6 +583,13 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
+  // config ISP
+  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
+                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
+  config_isp(0, 0, 1, buf0_handle, 0);
+}
+
+void CameraState::configCSIPHY() {
   csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
   assert(csiphy_fd >= 0);
   LOGD("opened csiphy for %d", camera_num);
@@ -580,11 +600,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   csiphy_dev_handle = *csiphy_dev_handle_;
   LOGD("acquire csiphy dev");
 
-  // config ISP
-  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
-                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
-  config_isp(0, 0, 1, buf0_handle, 0);
-
   // config csiphy
   LOG("-- Config CSI PHY");
   {
@@ -612,15 +627,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
   }
+}
 
-  // link devices
+void CameraState::linkDevices() {
   LOG("-- Link devices");
   struct cam_req_mgr_link_info req_mgr_link_info = {0};
   req_mgr_link_info.session_hdl = session_handle;
   req_mgr_link_info.num_devices = 2;
   req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
   req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
   link_handle = req_mgr_link_info.link_hdl;
   LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
 
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f04f06..b702d1bb690c65 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -86,6 +86,11 @@ class CameraState {
   void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
 
 private:
+  bool openSensor();
+  void configISP();
+  void configCSIPHY();
+  void linkDevices();
+
   // for debugging
   Params params;
 };

From d49c5193c33a41447d1d5748a069972893b7c6ec Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 10:31:27 -0700
Subject: [PATCH 183/247] ci: fix ui preview (#33002)

* use pull_request_target

* env for name
---
 .github/workflows/selfdrive_tests.yaml | 55 +---------------
 .github/workflows/ui_preview.yaml      | 91 ++++++++++++++++++++++++++
 2 files changed, 94 insertions(+), 52 deletions(-)
 create mode 100644 .github/workflows/ui_preview.yaml

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 42c1dbb5ebdefb..1154948ace2b36 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -338,6 +338,7 @@ jobs:
             })
 
   create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
     steps:
@@ -355,55 +356,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}
-          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }}
-      - name: Get changes to selfdrive/ui
-        if: ${{ github.event_name == 'pull_request' }}
-        id: changed-files
-        uses: tj-actions/changed-files@v44
-        with:
-         files: |
-            selfdrive/ui/**
-      - name: Checkout ci-artifacts
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-      - name: Push Screenshots
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* .
-          git add .
-          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
-          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
-      - name: Comment Screenshots on PR
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
-              </tr>
-            </table>
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.pull_request.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          name: report-${{ github.event.number }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
new file mode 100644
index 00000000000000..c05c01f3e3f35c
--- /dev/null
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,91 @@
+name: "ui preview"
+on:
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/ui/**'
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - name: Waiting for ui test to start
+        run: sleep 30
+
+      - name: Wait for ui report
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          check-name: $UI_JOB_NAME
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Get workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Checkout ci-artifacts
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+
+      - name: Download artifact
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: report-${{ github.event.number }}
+          path: ${{ github.workspace }}/ci-artifacts
+
+      - name: Push Screenshots
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git add ${{ github.workspace }}/ci-artifacts/*
+          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git push origin openpilot/pr-${{ github.event.number }} --force
+
+      - name: Comment Screenshots on PR
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 344694110751b8282eabe0b8b1e4de38646e4623 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Wed, 24 Jul 2024 10:36:28 -0700
Subject: [PATCH 184/247] CI: remove redundant save cache step (#33052)

remove
---
 .github/workflows/tools_tests.yaml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index b64963fb60b66c..9085556392efc6 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -73,12 +73,6 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
       run: uv run scons -u -j$(nproc)
-    - name: Saving scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer

From 2221ffcf0ea0d0631d92e016d5c1bd98116b9aba Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 11:03:24 -0700
Subject: [PATCH 185/247] ci: use github env for ui preview job name (#33060)

fix this
---
 .github/workflows/ui_preview.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index c05c01f3e3f35c..bc19e237780058 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -28,7 +28,7 @@ jobs:
         uses: lewagon/wait-on-check-action@v1.3.4
         with:
           ref: ${{ github.event.pull_request.head.sha }}
-          check-name: $UI_JOB_NAME
+          check-name: ${{ env.UI_JOB_NAME }}
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           allowed-conclusions: success
           wait-interval: 20
@@ -36,7 +36,7 @@ jobs:
       - name: Get workflow run ID
         id: get_run_id
         run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Checkout ci-artifacts
         uses: actions/checkout@v4

From 31036771ee8ba71e3fbe7c7f08aad3b5be0127e6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 24 Jul 2024 12:11:20 -0700
Subject: [PATCH 186/247] rerun: link to upstream issues

---
 tools/rerun/run.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 421785a2d56b08..6d9554038c69de 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -18,6 +18,12 @@
 RR_WIN = "rerun_test"
 
 
+"""
+Relevant upstream Rerun issues:
+- large time series: https://github.com/rerun-io/rerun/issues/5967
+- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
+"""
+
 class Rerunner:
   def __init__(self, route, segment_range, camera_config, enabled_services):
     self.enabled_services = [s.lower() for s in enabled_services]

From e38a1428aa20aad134b4ad9fd1abab33a1de70b9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 24 Jul 2024 14:47:33 -0700
Subject: [PATCH 187/247] LogReader: support multiple log extensions in route
 (#33066)

* support rlog.zst

* TODO
---
 tools/lib/logreader.py | 1 +
 tools/lib/route.py     | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 6ad77bf823a5d1..07a4b2003ebdea 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -140,6 +140,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") ->
   def get_internal_url(sr: SegmentRange, seg, file):
     return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
 
+  # TODO: list instead of using static URLs to support routes with multiple file extensions
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
 
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 6ff5d19208fd0e..ddb8b0486eaf57 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -11,7 +11,7 @@
 
 QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
-LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
+LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']

From add958bb08890c653be89999701cb3d794c5c717 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 24 Jul 2024 14:48:33 -0700
Subject: [PATCH 188/247] athenad: log failed upload items

---
 system/athena/athenad.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9769f065f6b468..b4f9b8b6a719fd 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -401,6 +401,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
   resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
   if failed:
+    cloudlog.event("athena.uploadFilesToUrls.failed", failed=failed, error=True)
     resp["failed"] = failed
 
   return resp

From 71ad5a8deef595d3e0cb01d3e8a4d8ced1ae5085 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 14:49:35 -0700
Subject: [PATCH 189/247] op.sh: general improvements (#33062)

* color

* format

* dry

* unset

* venv

* search for openpilot

* linter

* replay
---
 tools/op.sh | 106 +++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 81 insertions(+), 25 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index bbc4ded445acda..111a06e81c0487 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -2,6 +2,8 @@
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
 NC='\033[0m'
 
 function op_first_install() {
@@ -12,7 +14,7 @@ function op_first_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
@@ -21,14 +23,25 @@ function op_first_install() {
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_check_openpilot_dir() {
-  (set -e
+  while [[ "$OPENPILOT_ROOT" != '/' ]];
+  do
+    if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
+      return 0
+    fi
+    OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
+  done
 
-  if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then
-    echo "openpilot directory not found!"
-    return 1
-  fi
+  echo "openpilot directory not found! Make sure that you are inside openpilot"
+  echo "directory or specify one with the --dir option!"
+  return 1
+}
 
-  )
+function op_run_command() {
+  CMD="$@"
+  echo -e "${BOLD}Running:${NC} $CMD"
+  if [[ -z "$DRY" ]]; then
+    $CMD
+  fi
 }
 
 function op_check_git() {
@@ -118,7 +131,7 @@ function op_check_python() {
 # this must be run in the same shell as the user calling "op"
 function op_venv() {
   op_check_openpilot_dir || return 1
-  source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+  op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
 }
 
 function op_check() {
@@ -138,7 +151,8 @@ function op_run() {
 
   op_venv
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/launch_openpilot.sh
+
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
 
   )
 }
@@ -170,7 +184,7 @@ function op_build() {
   op_venv
   cd $OPENPILOT_ROOT
 
-  scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?"
+  op_run_command scons $@
 
   )
 }
@@ -181,7 +195,28 @@ function op_juggle() {
   op_venv
   cd $OPENPILOT_ROOT
 
-  $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+
+  )
+}
+
+function op_linter() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  op_run_command pre-commit run --all $@
+
+  )
+}
+
+function op_replay() {
+  (set -e
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
 
   )
 }
@@ -189,24 +224,37 @@ function op_juggle() {
 function op_default() {
   echo "An openpilot helper"
   echo ""
-  echo -e "\e[4mUsage:\e[0m op [OPTIONS] <COMMAND>"
+  echo -e "${BOLD}${UNDERLINE}Description:${NC}"
+  echo "  op is your entry point for all things related to openpilot development."
+  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op will always show you what it will run on your system."
+  echo ""
+  echo "  op will try to find your openpilot directory in the following order:"
+  echo "   1: use the directory specified with the --dir option"
+  echo "   2: use the current working directory"
+  echo "   3: go up the file tree non-recursively"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
-  echo -e "\e[4mCommands:\e[0m"
-  echo "  venv       Activate the virtual environment"
-  echo "  check      Check system requirements (git, os, python) to start using openpilot"
-  echo "  install    Install requirements to use openpilot"
-  echo "  build      Build openpilot"
-  echo "  run        Run openpilot"
-  echo "  juggle     Run Plotjuggler"
-  echo "  help       Show this message"
-  echo "  --install  Install this tool system wide"
+  echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
+  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
+  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
+  echo -e "  ${BOLD}build${NC}      Build openpilot"
+  echo -e "  ${BOLD}run${NC}        Run openpilot"
+  echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}     Run replay"
+  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}help${NC}       Show this message"
+  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
   echo ""
-  echo -e "\e[4mOptions:\e[0m"
-  echo "  -d, --dir"
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
-  echo "          Default to the current working directory"
+  echo -e "  ${BOLD}--dry${NC}"
+  echo "          Don't actually run anything, just print what would be"
   echo ""
-  echo -e "\e[4mExamples:\e[0m"
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
   echo "          Run the check command on openpilot located in /tmp/openpilot"
   echo ""
@@ -224,6 +272,7 @@ function _op() {
   # parse Options
   case $1 in
     -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+    --dry )      shift 1; DRY="1" ;;
   esac
 
   # parse Commands
@@ -234,6 +283,8 @@ function _op() {
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
+    linter )    shift 1; op_linter "$@" ;;
+    replay )    shift 1; op_replay "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
     * ) op_default "$@" ;;
   esac
@@ -255,3 +306,8 @@ unset -f op_check_python
 unset -f op_check_os
 unset -f op_first_install
 unset -f op_default
+unset -f op_run_command
+unset -f op_linter
+unset -f op_replay
+unset DRY
+unset OPENPILOT_ROOT

From 4ac938a578e68c88e39b73fa35024a4320557f64 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 22:20:16 -0700
Subject: [PATCH 190/247] op.sh: improvements (#33067)

* cabana

* pre-check

* cd

* change this

* fix

* fix install
---
 tools/op.sh | 183 +++++++++++++++++++++++++++++++---------------------
 1 file changed, 110 insertions(+), 73 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 111a06e81c0487..27f1817211dd3a 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
@@ -14,64 +14,66 @@ function op_first_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
 }
 
+function op_run_command() {
+  CMD="$@"
+  echo -e "${BOLD}Running:${NC} $CMD"
+  if [[ -z "$DRY" ]]; then
+    $CMD
+  fi
+}
+
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
+      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
 
-  echo "openpilot directory not found! Make sure that you are inside openpilot"
-  echo "directory or specify one with the --dir option!"
+  echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
+  echo "       inside the openpilot directory or specify one with the"
+  echo "       --dir option!"
   return 1
 }
 
-function op_run_command() {
-  CMD="$@"
-  echo -e "${BOLD}Running:${NC} $CMD"
-  if [[ -z "$DRY" ]]; then
-    $CMD
-  fi
-}
-
 function op_check_git() {
   (set -e
 
-  cd $OPENPILOT_ROOT
-
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull"
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
   fi
 
   echo "Checking for git submodules..."
-  if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then
-    echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'"
-    return 1
-  else
-    echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n"
-  fi
+  for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+    if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      return 1
+    fi
+  done
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
 
   )
 }
@@ -89,19 +91,19 @@ function op_check_os() {
           echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
     return 1
   fi
 
@@ -112,78 +114,100 @@ function op_check_python() {
   (set -e
 
   echo "Checking for compatible python version..."
-  export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ')
-  if ! command -v "python3" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+  REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
+  INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
+
+  if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
     return 1
+  elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
   else
-    if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then
-      echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n"
-    else
-      echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
-      return 1
-    fi
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    return 1
   fi
 
   )
 }
 
-# this must be run in the same shell as the user calling "op"
-function op_venv() {
-  op_check_openpilot_dir || return 1
-  op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+function op_check_venv() {
+  echo "Checking for venv..."
+  if source $OPENPILOT_ROOT/.venv/bin/activate; then
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+  else
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+  fi
 }
 
-function op_check() {
-  (set -e
+function op_before_cmd() {
+  if [[ ! -z "$NO_VERIFY" ]]; then
+    return 0
+  fi
 
   op_check_openpilot_dir
   cd $OPENPILOT_ROOT
   op_check_git
   op_check_os
+  op_check_venv
   op_check_python
-
-  )
+  echo -e "-----------------------------\n"
 }
 
-function op_run() {
+function op_install() {
   (set -e
 
-  op_venv
+  op_check_openpilot_dir
   cd $OPENPILOT_ROOT
+  op_check_os
+  op_check_python
 
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
+  fi
+
+  op_run_command git submodule update --init --recursive
+  op_run_command git lfs pull
 
   )
 }
 
-function op_install() {
-  (set -e
+function op_venv() {
+  ( set -e
 
-  op_check_openpilot_dir
-  cd $OPENPILOT_ROOT
+  op_before_cmd
 
-  op_check_os
-  op_check_python
+  )
 
-  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    $OPENPILOT_ROOT/tools/ubuntu_setup.sh
-  elif [[ "$OSTYPE" == "darwin"* ]]; then
-    $OPENPILOT_ROOT/tools/mac_setup.sh
+  if [[ "$?" -eq 0 ]]; then
+    # this must be run in the same shell as the user calling "op"
+    op_check_openpilot_dir > /dev/null
+    op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
+}
 
-  git submodule update --init --recursive
-  git lfs pull
+function op_check() {
+  (set -e
+
+  op_before_cmd
 
   )
 }
 
-function op_build() {
+function op_run() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
+  op_before_cmd
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+
+  )
+}
 
+function op_build() {
+  (set -e
+
+  op_before_cmd
   op_run_command scons $@
 
   )
@@ -192,9 +216,7 @@ function op_build() {
 function op_juggle() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
-
+  op_before_cmd
   op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
 
   )
@@ -203,9 +225,7 @@ function op_juggle() {
 function op_linter() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
-
+  op_before_cmd
   op_run_command pre-commit run --all $@
 
   )
@@ -213,14 +233,22 @@ function op_linter() {
 
 function op_replay() {
   (set -e
-  op_check_openpilot_dir
-  cd $OPENPILOT_ROOT
 
+  op_before_cmd
   op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
 
   )
 }
 
+function op_cabana() {
+  (set -e
+
+  op_before_cmd
+  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+
+  )
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -244,6 +272,7 @@ function op_default() {
   echo -e "  ${BOLD}run${NC}        Run openpilot"
   echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}     Run replay"
+  echo -e "  ${BOLD}cabana${NC}     Run cabana"
   echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
   echo -e "  ${BOLD}help${NC}       Show this message"
   echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
@@ -253,6 +282,8 @@ function op_default() {
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
   echo "          Don't actually run anything, just print what would be"
+  echo -e "  ${BOLD}-n, --no-verify${NC}"
+  echo "          Don't run checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -271,8 +302,9 @@ function op_default() {
 function _op() {
   # parse Options
   case $1 in
-    -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
-    --dry )      shift 1; DRY="1" ;;
+    -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+    --dry )            shift 1; DRY="1" ;;
+    -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
   esac
 
   # parse Commands
@@ -283,6 +315,7 @@ function _op() {
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
+    cabana )    shift 1; op_cabana "$@" ;;
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
@@ -309,5 +342,9 @@ unset -f op_default
 unset -f op_run_command
 unset -f op_linter
 unset -f op_replay
+unset -f op_cabana
+unset -f op_check_venv
+unset -f op_before_cmd
 unset DRY
 unset OPENPILOT_ROOT
+unset NO_VERIFY

From 6cdf2a1499885acec46d77498e96cad0f972592b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 23:11:23 -0700
Subject: [PATCH 191/247] Update op.sh

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 27f1817211dd3a..7ad96971856093 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -24,7 +24,7 @@ function op_run_command() {
   CMD="$@"
   echo -e "${BOLD}Running:${NC} $CMD"
   if [[ -z "$DRY" ]]; then
-    $CMD
+    eval "$CMD"
   fi
 }
 

From edd8759f3934b44c640d7d044bd0c383caf68a42 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 01:16:59 +0800
Subject: [PATCH 192/247] scons: move `-Ithird_party/qrcode` to qt modules
 (#33071)

move -Ithird_party/qrcode to qt modeules
---
 SConstruct | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 1f83b1e43dc590..90fc5b5ee7b46d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -205,7 +205,6 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
-    "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#msgq",
@@ -314,7 +313,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",

From 75f49f84f3b71c970e7f4a5768016a092175e870 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:09:03 +0800
Subject: [PATCH 193/247] camerad: add CameraConfig struct for initializing
 CameraState in constructor (#33065)

* Add CameraConfig struct for initializing CameraState in constructor

* init member variables
---
 system/camerad/cameras/camera_common.cc |   2 +-
 system/camerad/cameras/camera_common.h  |   3 -
 system/camerad/cameras/camera_qcom2.cc  |  50 ++++++-----
 system/camerad/cameras/camera_qcom2.h   | 108 +++++++++++++++---------
 4 files changed, 97 insertions(+), 66 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 9d82284d9f97b8..aef00c1bba6bd9 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -324,7 +324,7 @@ void camerad_thread() {
 #endif
 
   {
-    MultiCameraState cameras = {};
+    MultiCameraState cameras;
     VisionIpcServer vipc_server("camerad", device_id, context);
 
     cameras_open(&cameras);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 555362ab8bc7ab..f97940b669fb63 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,9 +18,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 7c1f8e44e7ed37..5767bec87059c0 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+  : multi_cam_state(multi_camera_state),
+    camera_num(config.camera_num),
+    stream_type(config.stream_type),
+    focal_len(config.focal_len),
+    enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -425,48 +433,38 @@ void CameraState::set_exposure_rect() {
 }
 
 void CameraState::sensor_set_parameters() {
-  target_grey_fraction = 0.3;
-
-  dc_gain_enabled = false;
   dc_gain_weight = ci->dc_gain_min_weight;
   gain_idx = ci->analog_gain_rec_idx;
-  exposure_time = 5;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
-  request_id_last = 0;
-  skipped = true;
-
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
-  camera_map_bufs(s);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  camera_map_bufs();
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_open() {
   if (!enabled) return;
 
   if (!openSensor()) {
@@ -660,9 +658,9 @@ void CameraState::linkDevices() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -706,11 +704,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open(s, 2, !env_disable_driver);
+  s->driver_cam.camera_open();
   LOGD("driver camera opened");
-  s->road_cam.camera_open(s, 1, !env_disable_road);
+  s->road_cam.camera_open();
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+  s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
 }
 
@@ -972,6 +970,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
+MultiCameraState::MultiCameraState()
+  : driver_cam(this, DRIVER_CAMERA_CONFIG),
+    road_cam(this, ROAD_CAMERA_CONFIG),
+    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
+}
+
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index b702d1bb690c65..47981e0753c03f 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,67 +11,94 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
-  MultiCameraState *multi_cam_state;
+  MultiCameraState *multi_cam_state = nullptr;
   std::unique_ptr<const SensorInfo> ci;
-  bool enabled;
+  bool enabled = true;
+  VisionStreamType stream_type;
+  float focal_len = 0;
 
   std::mutex exp_lock;
 
-  int exposure_time;
-  bool dc_gain_enabled;
-  int dc_gain_weight;
-  int gain_idx;
-  float analog_gain_frac;
+  int exposure_time = 5;
+  bool dc_gain_enabled = false;
+  int dc_gain_weight = 0;
+  int gain_idx = 0;
+  float analog_gain_frac = 0;
 
-  float cur_ev[3];
-  float best_ev_score;
-  int new_exp_g;
-  int new_exp_t;
+  float cur_ev[3] = {};
+  float best_ev_score = 0;
+  int new_exp_g = 0;
+  int new_exp_t = 0;
 
-  Rect ae_xywh;
-  float measured_grey_fraction;
-  float target_grey_fraction;
+  Rect ae_xywh = {};
+  float measured_grey_fraction = 0;
+  float target_grey_fraction = 0.3;
 
   unique_fd sensor_fd;
   unique_fd csiphy_fd;
 
-  int camera_num;
-  float fl_pix;
+  int camera_num = 0;
+  float fl_pix = 0;
 
+  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_open();
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
 
-  int32_t session_handle;
-  int32_t sensor_dev_handle;
-  int32_t isp_dev_handle;
-  int32_t csiphy_dev_handle;
+  int32_t session_handle = -1;
+  int32_t sensor_dev_handle = -1;
+  int32_t isp_dev_handle = -1;
+  int32_t csiphy_dev_handle = -1;
 
-  int32_t link_handle;
+  int32_t link_handle = -1;
 
-  int buf0_handle;
-  int buf_handle[FRAME_BUF_COUNT];
-  int sync_objs[FRAME_BUF_COUNT];
-  int request_ids[FRAME_BUF_COUNT];
-  int request_id_last;
-  int frame_id_last;
-  int idx_offset;
-  bool skipped;
+  int buf0_handle = 0;
+  int buf_handle[FRAME_BUF_COUNT] = {};
+  int sync_objs[FRAME_BUF_COUNT] = {};
+  int request_ids[FRAME_BUF_COUNT] = {};
+  int request_id_last = 0;
+  int frame_id_last = 0;
+  int idx_offset = 0;
+  bool skipped = true;
 
   CameraBuf buf;
   MemoryManager mm;
@@ -95,16 +122,19 @@ class CameraState {
   Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+  MultiCameraState();
+
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
-  int device_iommu;
-  int cdm_iommu;
+  int device_iommu = -1;
+  int cdm_iommu = -1;
 
   CameraState road_cam;
   CameraState wide_road_cam;
   CameraState driver_cam;
 
   PubMaster *pm;
-} MultiCameraState;
+};

From 2da4aef2683dc9af4ff49435c8d021b6261d329b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:10:36 +0800
Subject: [PATCH 194/247] scons: remove redundant -DSWAGLOG Flag (#33070)

remove redundant_-DSWAGLOG Flag
---
 SConstruct | 1 -
 1 file changed, 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 90fc5b5ee7b46d..329ebe3308642b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -169,7 +169,6 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 ccflags_option = GetOption('ccflags')

From 313a2826c268a7974ce7422084ab294767b7c9bd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:36:44 +0800
Subject: [PATCH 195/247] mcid.py: optimize FFT and A-weighting calculations
 (#33057)

* Precomputing weighting

* add comments back

* use cache

* spacing

spacing

* clean up

* lower by diff

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/test/test_onroad.py |  2 +-
 system/micd.py                | 22 ++++++++++++----------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index bbb99d13b9b218..1e4669fb0a6b16 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -56,7 +56,7 @@
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
   "logcatd": 0,
-  "system.micd": 6.0,
+  "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
diff --git a/system/micd.py b/system/micd.py
index 8b738ebe939bcf..af1aa3136063a7 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
+from functools import cache
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
@@ -10,7 +11,16 @@
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096 # (approx 100ms)
+SAMPLE_BUFFER = 4096  # approx 100ms
+
+
+@cache
+def get_a_weighting_filter():
+  # Calculate the A-weighting filter
+  # https://en.wikipedia.org/wiki/A-weighting
+  freqs = np.fft.fftfreq(FFT_SAMPLES, d=1 / SAMPLE_RATE)
+  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
+  return A / np.max(A)
 
 
 def calculate_spl(measurements):
@@ -27,16 +37,8 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
   # Generate a Hanning window of the same length as the audio measurements
   measurements_windowed = measurements * np.hanning(len(measurements))
 
-  # Calculate the frequency axis for the signal
-  freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE)
-
-  # Calculate the A-weighting filter
-  # https://en.wikipedia.org/wiki/A-weighting
-  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
-  A /= np.max(A)  # Normalize the filter
-
   # Apply the A-weighting filter to the signal
-  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * A))
+  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * get_a_weighting_filter()))
 
 
 class Mic:

From cd8a603ad0f14d744d12e2f5f743c7880ce907a3 Mon Sep 17 00:00:00 2001
From: eivegau <ebgauruocius@gmail.com>
Date: Thu, 25 Jul 2024 21:47:43 +0100
Subject: [PATCH 196/247] Kia: add missing Optima EUR FW versions (#33027)

* Update fingerprints.py

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/fingerprints.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 30e4b9ed748043..5f959bd68d1c65 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -765,9 +765,11 @@
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
+      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
+      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
     ],
   },
   CAR.KIA_OPTIMA_G4_FL: {

From ed86910536e7036020a0a54be02e267db36653fe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 14:20:00 -0700
Subject: [PATCH 197/247] new README (#33073)

* commonmark

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* relock

* copy paste

* Update README.md

* looks better like this

* cleanup
---
 .github/workflows/docs.yaml |   2 +-
 README.md                   |  56 +++++++++-----
 docs/mkdocs.yml             |   3 +
 pyproject.toml              |   9 ++-
 uv.lock                     | 141 +++++++++++++++---------------------
 5 files changed, 105 insertions(+), 106 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index f5cc0d5003f59d..7fe4263db5e3d8 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,7 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs mkdocs-terminal
+        pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark
         cd docs
         mkdocs build
 
diff --git a/README.md b/README.md
index 5afaf6e7d60991..8ebc733e63e728 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,32 @@
-[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x)
+<div align="center" style="text-align: center;">
 
-What is openpilot?
-------
+<h1>openpilot</h1>
+
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>
+
+<h3>
+  <a href="https://docs.comma.ai">Read the docs</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
+
+Quick start: `curl -fsSL openpilot.comma.ai | bash`
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+
+</div>
 
 <table>
   <tr>
@@ -49,18 +72,6 @@ Safety and Testing
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
 Licensing
 ------
 
@@ -72,9 +83,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
 
----
+User Data and comma Account
+------
 
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 45a1503b0c1dad..92cb501b8bab56 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -5,6 +5,9 @@ site_url: https://docs.comma.ai
 
 strict: true
 
+plugins:
+  - commonmark
+
 theme:
   name: terminal
   features:
diff --git a/pyproject.toml b/pyproject.toml
index 1226c8345a3db2..f5eb5a437063db 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -67,8 +67,9 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "mkdocs",
+  "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
+  "mkdocs-plugin-commonmark",
 ]
 
 testing = [
@@ -227,7 +228,7 @@ lint.ignore = [
   "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version="py311"
+target-version ="py311"
 exclude = [
   "body",
   "cereal",
@@ -239,7 +240,8 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline=false
+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"
@@ -251,5 +253,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+
 [tool.ruff.format]
 quote-style = "preserve"
diff --git a/uv.lock b/uv.lock
index 8a0dc29b2a60e8..5c0de703f2a988 100644
--- a/uv.lock
+++ b/uv.lock
@@ -863,14 +863,14 @@ wheels = [
 
 [[distribution]]
 name = "importlib-metadata"
-version = "8.0.0"
+version = "8.2.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "zipp" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/20/ff/bd28f70283b9cca0cbf0c2a6082acbecd822d1962ae7b2a904861b9965f8/importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812", size = 52667 }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/a1/db39a513aa99ab3442010a994eef1cb977a436aded53042e69bee6959f74/importlib_metadata-8.2.0.tar.gz", hash = "sha256:72e8d4399996132204f9a16dcc751af254a48f8d1b20b9ff0f98d4a8f901e73d", size = 53907 }
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+    { url = "https://files.pythonhosted.org/packages/82/47/bb25ec04985d0693da478797c3d8c1092b140f3a53ccb984fbbd38affa5b/importlib_metadata-8.2.0-py3-none-any.whl", hash = "sha256:11901fa0c2f97919b288679932bb64febaeacf289d18ac84dd68cb2e74213369", size = 25920 },
 ]
 
 [[distribution]]
@@ -1059,11 +1059,11 @@ wheels = [
 
 [[distribution]]
 name = "markdown"
-version = "3.6"
+version = "3.3.7"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/22/02/4785861427848cc11e452cc62bb541006a1087cf04a1de83aedd5530b948/Markdown-3.6.tar.gz", hash = "sha256:ed4f41f6daecbeeb96e576ce414c41d2d876daa9a16cb35fa8ed8c2ddfad0224", size = 354715 }
+sdist = { url = "https://files.pythonhosted.org/packages/d6/58/79df20de6e67a83f0d0bbfe6c19bb82adf68cdf362885257eb01099f930a/Markdown-3.3.7.tar.gz", hash = "sha256:cbb516f16218e643d8e0a95b309f77eb118cb138d39a4f27851e6a63581db874", size = 324130 }
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+    { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
 ]
 
 [[distribution]]
@@ -1196,9 +1196,18 @@ dependencies = [
     { name = "yapf" },
 ]
 
+[[distribution]]
+name = "mistletoe"
+version = "1.4.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/11/96/ea46a376a7c4cd56955ecdfff0ea68de43996a4e6d1aee4599729453bd11/mistletoe-1.4.0.tar.gz", hash = "sha256:1630f906e5e4bbe66fdeb4d29d277e2ea515d642bb18a9b49b136361a9818c9d", size = 107203 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/2a/0f/b5e545f0c7962be90366af3418989b12cf441d9da1e5d89d88f2f3e5cf8f/mistletoe-1.4.0-py3-none-any.whl", hash = "sha256:44a477803861de1237ba22e375c6b617690a31d2902b47279d1f8f7ed498a794", size = 51304 },
+]
+
 [[distribution]]
 name = "mkdocs"
-version = "1.6.0"
+version = "1.4.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -1206,32 +1215,29 @@ dependencies = [
     { name = "ghp-import" },
     { name = "jinja2" },
     { name = "markdown" },
-    { name = "markupsafe" },
     { name = "mergedeep" },
-    { name = "mkdocs-get-deps" },
     { name = "packaging" },
-    { name = "pathspec" },
     { name = "pyyaml" },
     { name = "pyyaml-env-tag" },
     { name = "watchdog" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/b0/ef/49b4427e5eec761b77a3c3c421d3fd63010e2798b7401dc0fa2b875ef6b5/mkdocs-1.4.3.tar.gz", hash = "sha256:5955093bbd4dd2e9403c5afaf57324ad8b04f16886512a3ee6ef828956481c57", size = 3624951 }
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+    { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
 ]
 
 [[distribution]]
-name = "mkdocs-get-deps"
-version = "0.2.0"
+name = "mkdocs-plugin-commonmark"
+version = "0.0.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mergedeep" },
-    { name = "platformdirs" },
-    { name = "pyyaml" },
+    { name = "markdown" },
+    { name = "mistletoe" },
+    { name = "mkdocs" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/98/f5/ed29cd50067784976f25ed0ed6fcd3c2ce9eb90650aa3b2796ddf7b6870b/mkdocs_get_deps-0.2.0.tar.gz", hash = "sha256:162b3d129c7fad9b19abfdcb9c1458a651628e4b1dea628ac68790fb3061c60c", size = 10239 }
+sdist = { url = "https://files.pythonhosted.org/packages/fa/a1/4aaa744deec61d75dbe3c67c18f6e4c1fa7699bc2661b6eff5f891e83023/mkdocs-plugin-commonmark-0.0.4.tar.gz", hash = "sha256:9034507af26646e95188a130782dd07d65c86507fddd3b47ea340c02683e85e7", size = 10805 }
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+    { url = "https://files.pythonhosted.org/packages/f9/4a/4333ef1eb57ff130c7715ba0847dbdae471d153d94507004c92c591cb3c5/mkdocs_plugin_commonmark-0.0.4-py3-none-any.whl", hash = "sha256:70a33394d86a04ec97877ca1b2dff6181de3ec01ef4c7add178fa45b327da535", size = 12532 },
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 [[distribution]]
@@ -1594,6 +1600,7 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
+    { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
 ]
 testing = [
@@ -1705,15 +1712,6 @@ wheels = [
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-
 [[distribution]]
 name = "pillow"
 version = "10.4.0"
@@ -2042,15 +2040,15 @@ wheels = [
 
 [[distribution]]
 name = "pymdown-extensions"
-version = "10.8.1"
+version = "10.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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     { name = "pyyaml" },
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 [[distribution]]
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 [[distribution]]
@@ -5124,15 +5121,15 @@ wheels = [
 
 [[distribution]]
 name = "sentry-sdk"
-version = "2.10.0"
+version = "2.11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/6d/b3/39e4cd04b75a1ada788342d0d30a781cf65b5e43da806d5bf2bad4846ea3/sentry_sdk-2.11.0.tar.gz", hash = "sha256:4ca16e9f5c7c6bc2fb2d5c956219f4926b148e511fffdbbde711dc94f1e0468f", size = 276242 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/bc/3c/a8ab3309d22c1d7142f811882e7d45449696f87c6e4e723b1433b6069b84/sentry_sdk-2.11.0-py2.py3-none-any.whl", hash = "sha256:d964710e2dbe015d9dc4ff0ad16225d68c3b36936b742a6fe0504565b760a3b7", size = 303581 },
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@@ -5167,26 +5164,6 @@ wheels = [
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-
 [[distribution]]
 name = "six"
 version = "1.16.0"

From c8622c9553d02486ddea43810e428bce6414ed5d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 14:27:25 -0700
Subject: [PATCH 198/247] mac's getting there

---
 .github/workflows/selfdrive_tests.yaml |  3 +--
 tools/mac_setup.sh                     | 19 ++++++-------------
 2 files changed, 7 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 1154948ace2b36..a1786343215fee 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -96,7 +96,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
-    name: build macos
+    name: build macOS
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v4
@@ -106,7 +106,6 @@ jobs:
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
-        SKIP_PROMPT: 1
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 9823427e652dcd..d19f1cae86544e 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -2,19 +2,12 @@
 
 set -e
 
-if [ -z "$SKIP_PROMPT" ]; then
-  echo "---------------   macOS support   ---------------"
-  echo "Running openpilot natively on macOS is not officially supported."
-  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-  echo
-  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
-  echo "-------------------------------------------------"
-  echo -n "Are you sure you want to continue? [y/N] "
-  read -r response
-  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
-    exit 1
-  fi
-fi
+echo "---------------   macOS support   ---------------"
+echo "Running openpilot natively on macOS is still a work-in-progress."
+echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+echo
+echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+echo "-------------------------------------------------"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"

From 173a633a75692ae104fa9c6e99501fec4df9ebb7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 14:28:41 -0700
Subject: [PATCH 199/247] curl pc installer (#33072)

* setup

* curl

* usable right now

* op sim

* cleanup

* show cmd
---
 tools/op.sh           | 24 ++++++++++++++-
 tools/setup.sh        | 68 ++++++++++++++++++++++++++++---------------
 tools/ubuntu_setup.sh |  5 ----
 3 files changed, 68 insertions(+), 29 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7ad96971856093..42bbb1973d3904 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -161,14 +161,23 @@ function op_install() {
   op_check_os
   op_check_python
 
+  echo "Installing dependencies..."
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
   fi
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
 
+  echo "Getting git submodules..."
   op_run_command git submodule update --init --recursive
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
+
+  echo "Pulling git lfs files..."
   op_run_command git lfs pull
+  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n"
+
+  op_check
 
   )
 }
@@ -199,7 +208,7 @@ function op_run() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
 
   )
 }
@@ -249,6 +258,16 @@ function op_cabana() {
   )
 }
 
+function op_sim() {
+  (set -e
+
+  op_before_cmd
+  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
+  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+
+  )
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -270,6 +289,7 @@ function op_default() {
   echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
   echo -e "  ${BOLD}build${NC}      Build openpilot"
   echo -e "  ${BOLD}run${NC}        Run openpilot"
+  echo -e "  ${BOLD}sim${NC}        Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}     Run replay"
   echo -e "  ${BOLD}cabana${NC}     Run cabana"
@@ -318,6 +338,7 @@ function _op() {
     cabana )    shift 1; op_cabana "$@" ;;
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
+    sim )       shift 1; op_sim "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
     * ) op_default "$@" ;;
   esac
@@ -345,6 +366,7 @@ unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
+unset -f op_sim
 unset DRY
 unset OPENPILOT_ROOT
 unset NO_VERIFY
diff --git a/tools/setup.sh b/tools/setup.sh
index 22d10be80b7dec..42b8d6fd4c2119 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,32 +1,54 @@
 #!/usr/bin/env bash
 
-set -e
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
 
-if [ ! -f launch_openpilot.sh ]; then
-  if [ ! -d openpilot ]; then
-    git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git
-  fi
-  cd openpilot
+if [ -z "$OPENPILOT_ROOT" ]; then
+  # default to current directory for installation
+  OPENPILOT_ROOT="$(pwd)/openpilot"
 fi
 
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  tools/mac_setup.sh
-else
-  tools/ubuntu_setup.sh
-fi
+function check_dir() {
+  echo "Checking for installation directory..."
+  if [ -d "$OPENPILOT_ROOT" ]; then
+    echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !"
+    return 1
+  fi
+
+  echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n"
+}
+
+function check_git() {
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+  fi
+}
+
+function git_clone() {
+  echo "Cloning openpilot..."
+  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+    if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
+      echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
+      return 0
+    fi
+  fi
 
-git lfs pull
+  echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
+  return 1
+}
 
-source .venv/bin/activate
+function install_with_op() {
+  cd $OPENPILOT_ROOT
+  $OPENPILOT_ROOT/tools/op.sh --install
+  $OPENPILOT_ROOT/tools/op.sh install
 
-echo "Building openpilot"
-scons -u -j$(nproc)
+  # make op usable right now
+  alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""
+}
 
-echo
-echo "----   OPENPILOT BUILDING DONE   ----"
-echo "To push changes to your fork, run the following commands:"
-echo "git remote remove origin"
-echo "git remote add origin git@github.com:<YOUR_USERNAME>/openpilot.git"
-echo "git fetch"
-echo "git commit -m \"first commit\""
-echo "git push"
+check_dir && check_git && git_clone && install_with_op
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 1bdeb50e0d7ce2..f425e14cf2f71d 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -8,8 +8,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 $DIR/install_ubuntu_dependencies.sh
 $DIR/install_python_dependencies.sh
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source ~/.bashrc"

From 1989fbd4c4a40188fbb673d2f5e1dd467d255ad5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 14:38:47 -0700
Subject: [PATCH 200/247] Update setup.sh

---
 tools/setup.sh | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/tools/setup.sh b/tools/setup.sh
index 42b8d6fd4c2119..8aca889b8c44cc 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -52,3 +52,8 @@ function install_with_op() {
 }
 
 check_dir && check_git && git_clone && install_with_op
+
+unset OPENPILOT_ROOT
+unset RED
+unset GREEN
+unset NC

From ccd369ee9639beae479704615f198902d58135b9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 06:05:14 +0800
Subject: [PATCH 201/247] camerad: merge thread functions into one (#33025)

merge multiple thread functions into one
---
 system/camerad/cameras/camera_common.cc | 32 +-------------
 system/camerad/cameras/camera_common.h  |  6 +--
 system/camerad/cameras/camera_qcom2.cc  | 55 ++++++++++++++-----------
 system/camerad/cameras/camera_qcom2.h   | 11 +++++
 4 files changed, 43 insertions(+), 61 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index aef00c1bba6bd9..542be29d80aa46 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -244,7 +244,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
   return dat;
 }
 
-static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
   auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
   if (thumbnail.size() == 0) return;
 
@@ -284,36 +284,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   return lum_med / 256.0;
 }
 
-void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  const char *thread_name = nullptr;
-  if (cs == &cameras->road_cam) {
-    thread_name = "RoadCamera";
-  } else if (cs == &cameras->driver_cam) {
-    thread_name = "DriverCamera";
-  } else {
-    thread_name = "WideRoadCamera";
-  }
-  util::set_thread_name(thread_name);
-
-  uint32_t cnt = 0;
-  while (!do_exit) {
-    if (!cs->buf.acquire()) continue;
-
-    callback(cameras, cs, cnt);
-
-    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
-      // this takes 10ms???
-      publish_thumbnail(cameras->pm, &(cs->buf));
-    }
-    ++cnt;
-  }
-  return NULL;
-}
-
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  return std::thread(processing_thread, cameras, cs, callback);
-}
-
 void camerad_thread() {
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 #ifdef QCOM2
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f97940b669fb63..d58f4d3195fdec 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -2,7 +2,6 @@
 
 #include <fcntl.h>
 #include <memory>
-#include <thread>
 
 #include "cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
@@ -69,13 +68,10 @@ class CameraBuf {
   void queue(size_t buf_idx);
 };
 
-typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
-
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 5767bec87059c0..2729aa264c1590 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -31,6 +31,8 @@ CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfi
     camera_num(config.camera_num),
     stream_type(config.stream_type),
     focal_len(config.focal_len),
+    publish_name(config.publish_name),
+    init_camera_state(config.init_camera_state),
     enabled(config.enabled) {
 }
 
@@ -941,33 +943,36 @@ void CameraState::set_camera_exposure(float grey_frac) {
   sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
 }
 
-static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4));
+void CameraState::run() {
+  util::set_thread_name(publish_name);
 
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverCameraState();
-  fill_frame_data(framed, c->buf.cur_frame_data, c);
+  for (uint32_t cnt = 0; !do_exit; ++cnt) {
+    // Acquire the buffer; continue if acquisition fails
+    if (!buf.acquire()) continue;
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send("driverCameraState", msg);
-}
-
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const CameraBuf *b = &c->buf;
+    MessageBuilder msg;
+    auto framed = (msg.initEvent().*init_camera_state)();
+    fill_frame_data(framed, buf.cur_frame_data, this);
 
-  MessageBuilder msg;
-  auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data, c);
-  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
-    framed.setImage(get_raw_frame_image(b));
-  }
-  LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
+    // Log raw frames for road camera
+    if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
+      framed.setImage(get_raw_frame_image(&buf));
+    }
+    // Log frame id for road and wide road cameras
+    if (stream_type != VISION_STREAM_DRIVER) {
+      LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name);
+    }
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
+    // Process camera registers and set camera exposure
+    ci->processRegisters(this, framed);
+    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
-  const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
+    // Send the message
+    multi_cam_state->pm->send(publish_name, msg);
+    if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
+      publish_thumbnail(multi_cam_state->pm, &buf);  // this takes 10ms???
+    }
+  }
 }
 
 MultiCameraState::MultiCameraState()
@@ -979,9 +984,9 @@ MultiCameraState::MultiCameraState()
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
-  if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
-  if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
+  if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam);
+  if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam);
+  if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam);
 
   // start devices
   LOG("-- Starting devices");
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 47981e0753c03f..1b27fb18b83bbd 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -15,6 +15,8 @@ struct CameraConfig {
   int camera_num;
   VisionStreamType stream_type;
   float focal_len;  // millimeters
+  const char *publish_name;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
   bool enabled;
 };
 
@@ -22,6 +24,8 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .camera_num = 0,
   .stream_type = VISION_STREAM_WIDE_ROAD,
   .focal_len = 1.71,
+  .publish_name = "wideRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
 };
 
@@ -29,6 +33,8 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .camera_num = 1,
   .stream_type = VISION_STREAM_ROAD,
   .focal_len = 8.0,
+  .publish_name = "roadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
 };
 
@@ -36,6 +42,8 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .camera_num = 2,
   .stream_type = VISION_STREAM_DRIVER,
   .focal_len = 1.71,
+  .publish_name = "driverCameraState",
+  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
 };
 
@@ -45,6 +53,8 @@ class CameraState {
   std::unique_ptr<const SensorInfo> ci;
   bool enabled = true;
   VisionStreamType stream_type;
+  const char *publish_name = nullptr;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr;
   float focal_len = 0;
 
   std::mutex exp_lock;
@@ -83,6 +93,7 @@ class CameraState {
   void camera_map_bufs();
   void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
+  void run();
 
   int32_t session_handle = -1;
   int32_t sensor_dev_handle = -1;

From fb1ad1d26a74e4937801a8b70d8cdce40f2da359 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 15:13:47 -0700
Subject: [PATCH 202/247] fix pytools (#33076)

fix
---
 pyproject.toml |  1 +
 uv.lock        | 28 +++++++++++++++++++++++++---
 2 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index f5eb5a437063db..79034e25f008f6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -111,6 +111,7 @@ dev = [
   #pprofile = "*"
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
   "rerun-sdk",
diff --git a/uv.lock b/uv.lock
index 5c0de703f2a988..7d4870c4b1af74 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1591,6 +1591,7 @@ dev = [
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
     { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64'" },
     { name = "pywinctl" },
     { name = "rerun-sdk" },
     { name = "tabulate" },
@@ -4860,15 +4861,16 @@ sdist = { url = "https://files.pythonhosted.org/packages/ef/c6/2c5999de3bb153352
 
 [[distribution]]
 name = "pytools"
-version = "2024.1.11"
+version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "platformdirs" },
+    { name = "siphash24" },
     { name = "typing-extensions", marker = "python_version < '3.13'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b7/80/188130dc3d1238f35a8a1ed788c42bdf00b9fd00f03a03b150778ceb846f/pytools-2024.1.11.tar.gz", hash = "sha256:fa966e09857bcd9299f961d58fc128e8333e4ac5fcea52473af5aae88f814e38", size = 81917 }
+sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/60/83/df2f2e6de93798cfd1432aafaad6f23c80a217983b022d0b4bd739194072/pytools-2024.1.11-py3-none-any.whl", hash = "sha256:b3f254dcd6986426c21fcd52803a248e837a34b78a8c4abe09724cb60e0901ea", size = 88206 },
+    { url = "https://files.pythonhosted.org/packages/66/cf/0a6aaa44b1f9e02b8c0648b5665a82246a93bcc75224c167b4fafa25c093/pytools-2024.1.10-py3-none-any.whl", hash = "sha256:9cabb71038048291400e244e2da441a051d86053339bc484e64e58d8ea263f44", size = 88108 },
 ]
 
 [[distribution]]
@@ -5164,6 +5166,26 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d4/c3/e98e3eb9f06def32b8e2454ab718cafb99149f023dff023e257125132d6e/shapely-2.0.5-cp312-cp312-win_amd64.whl", hash = "sha256:30e8737983c9d954cd17feb49eb169f02f1da49e24e5171122cf2c2b62d65c95", size = 1442365 },
 ]
 
+[[distribution]]
+name = "siphash24"
+version = "1.6"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/19/d8/beb5183d1acc5a013d273452eac750b51e40855917a1841dead80fcf3086/siphash24-1.6.tar.gz", hash = "sha256:242d6901a81260f618938635a25ae7f208e744f7ee6c571f1b255c1c4c62917d", size = 19659 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/e5/a5/0ffc51fe2e5f96258f0edfae15944006b09517ad7e98fdcbda05c67c70f6/siphash24-1.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3e1b3963c392a2d63cbe16af9171d789d2f15e69eb8314b21fe1e11bdc08205f", size = 80669 },
+    { url = "https://files.pythonhosted.org/packages/80/ea/41d648cbbf3248a30f545f9e41ad5dedee19fcbad1d2baa7e39ae6f2779e/siphash24-1.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:de23d12c8a015904081e347900433a0c4b5e07690dbd0a104ad88929f3b91948", size = 75379 },
+    { url = "https://files.pythonhosted.org/packages/48/a7/d6dcc551c8d53e436c58b7ecc96d1de0c0379c21b1e71b2543d38c039c95/siphash24-1.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8be513de01677e57989e028185a16e531942f7a9578d441481abe8b1085c45d6", size = 100466 },
+    { url = "https://files.pythonhosted.org/packages/eb/46/b906d7e05e3d84239d6a04e3d5f106d96ab26483951c7cf2c5769ea8c894/siphash24-1.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef89477ce8f2e67fca025ad9b1c85b7498c6959baa7d9a502cbb5d8c7085f5b7", size = 105913 },
+    { url = "https://files.pythonhosted.org/packages/4c/98/20159e2be9a957da2dffb3e18648c51ea7a0f09c49b8dce1cb268ca55ca7/siphash24-1.6-cp311-cp311-win32.whl", hash = "sha256:f702e646dc60b7d7915fa37f9357a03a2ec41ffb360b6946baf4801eb9f7e98f", size = 67528 },
+    { url = "https://files.pythonhosted.org/packages/0d/0a/d8da621e624f3dbcf9a7a8066c54ddd2f6af437fc23169431caf6f9b403b/siphash24-1.6-cp311-cp311-win_amd64.whl", hash = "sha256:38715f61f0873e4a8b05125e14f349f465c64a1aaf79b6af0ff6f5f420d55dc5", size = 79961 },
+    { url = "https://files.pythonhosted.org/packages/12/e4/ed944e92883b45996cf2c94447dd47b899c87674340b081b9e8cb317a88f/siphash24-1.6-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:51eefacbe82f8f48bc603eb97f54bf3819324349b69a9cd131ba02c40b1e6c61", size = 82399 },
+    { url = "https://files.pythonhosted.org/packages/f9/d1/6ddbd7ba8972789f60282b9b9b1f88f08d26ef0913906e8ad5a9806c8432/siphash24-1.6-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c63321003aa1856b1bfd48e6ffbd4bff98afeaacb0fc902cb2ae44b861476335", size = 76253 },
+    { url = "https://files.pythonhosted.org/packages/0d/87/0f125c1e069d09c4a39ab09d76fa9d4fe698bde68197627faeb38603f643/siphash24-1.6-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f0ff4d068e9b0b3f138ef8e8b6f5de1990539d9d590e75a9a8beb6887535184a", size = 98184 },
+    { url = "https://files.pythonhosted.org/packages/86/57/a274de0a91016cd4f870334a2af1193ffcdb88e34345ca098afea6dd10cb/siphash24-1.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c1a671d91095e1872ca9988695200064ccca8db60133638d6061755fe669552", size = 103311 },
+    { url = "https://files.pythonhosted.org/packages/5d/d4/b6a0c9f119b22938e36d74e0859167ae76c0ea0f7d7786eb48120b0e129d/siphash24-1.6-cp312-cp312-win32.whl", hash = "sha256:2dab672fcda08149b8c15f82ee74d732386428f53239cdb002ac2ad0a1f2f2bc", size = 68366 },
+    { url = "https://files.pythonhosted.org/packages/ef/de/6ebd0f96184f8479e8348dcba93a9f14ff54ac3c6a68866cc77c334d7bdf/siphash24-1.6-cp312-cp312-win_amd64.whl", hash = "sha256:226af78af3b992c953cc4808f2c6a4bba320e91e6c89b34aa2492064fa417ae8", size = 81096 },
+]
+
 [[distribution]]
 name = "six"
 version = "1.16.0"

From e5b803f28eb3c63105c3560b2fe07b5fddffbee6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 16:07:59 -0700
Subject: [PATCH 203/247] cleanup python dependencies (#33077)

* cleanup python dependencies

* fix ruff
---
 pyproject.toml                        |  10 +-
 tools/latencylogger/latency_logger.py |  13 +-
 uv.lock                               | 207 +-------------------------
 3 files changed, 9 insertions(+), 221 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 79034e25f008f6..8288340e5aa686 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -60,13 +60,14 @@ dependencies = [
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
-  #logreader
+  # logreader
   "zstd",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "natsort",
   "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
   "mkdocs-plugin-commonmark",
@@ -95,7 +96,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "breathe",
   "control",
   "dictdiffer",
   "flaky",
@@ -103,12 +103,9 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
-  #pprofile = "*"
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -122,7 +119,6 @@ dev = [
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
 ]
 
 [project.urls]
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 8691149e94c350..f145cc35e47d96 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -3,7 +3,6 @@
 import json
 import matplotlib.patches as mpatches
 import matplotlib.pyplot as plt
-import mpld3
 import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
@@ -174,7 +173,6 @@ def print_timestamps(timestamps, durations, start_times, relative):
         print("    "+'%-53s%-53s' %(event, str(time*1000)))
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  # mpld3 doesn't convert properly to D3 font sizes
   plt.rcParams.update({'font.size': 18})
 
   t0 = find_t0(start_times)
@@ -203,15 +201,14 @@ def graph_timestamps(timestamps, start_times, end_times, relative, offset_servic
           points['labels'].append(event[0])
     ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
 
-  scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points['labels'])
-  mpld3.plugins.connect(fig, tooltip)
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
 
   plt.title(title)
-  # Set size relative window size is not trivial: https://github.com/mpld3/mpld3/issues/65
   fig.set_size_inches(18, 9)
   plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  return fig
+  plt.show()
 
 def get_timestamps(lr):
   lr = list(lr)
@@ -239,4 +236,4 @@ def get_timestamps(lr):
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
   if args.plot:
-    mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r))
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/uv.lock b/uv.lock
index 7d4870c4b1af74..fa873c63132ce7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -96,15 +96,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
 ]
 
-[[distribution]]
-name = "alabaster"
-version = "0.7.16"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c9/3e/13dd8e5ed9094e734ac430b5d0eb4f2bb001708a8b7856cbf8e084e001ba/alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65", size = 23776 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/32/34/d4e1c02d3bee589efb5dfa17f88ea08bdb3e3eac12bc475462aec52ed223/alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92", size = 13511 },
-]
-
 [[distribution]]
 name = "attrs"
 version = "23.2.0"
@@ -179,28 +170,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f4/da/4033cee3855395e84ff73da4b50d3528f9338205299cde89676639387fcc/azure_storage_blob-12.21.0-py3-none-any.whl", hash = "sha256:f9ede187dd5a0ef296b583a7c1861c6938ddd6708d6e70f4203a163c2ab42d43", size = 396449 },
 ]
 
-[[distribution]]
-name = "babel"
-version = "2.15.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/15/d2/9671b93d623300f0aef82cde40e25357f11330bdde91743891b22a555bed/babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413", size = 9390000 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/27/45/377f7e32a5c93d94cd56542349b34efab5ca3f9e2fd5a68c5e93169aa32d/Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb", size = 9634913 },
-]
-
-[[distribution]]
-name = "breathe"
-version = "4.35.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "docutils" },
-    { name = "sphinx" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/eb/61/faddc25913de74e60e175bcfd962ec83532653c5895c0a06a83a6b5bbf3d/breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be", size = 92955 },
-]
-
 [[distribution]]
 name = "casadi"
 version = "3.6.5"
@@ -538,15 +507,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/87/a1/8c5287991ddb8d3e4662f71356d9656d91ab3a36618c3dd11b280df0d255/dnspython-2.6.1-py3-none-any.whl", hash = "sha256:5ef3b9680161f6fa89daf8ad451b5f1a33b18ae8a1c6778cdf4b43f08c0a6e50", size = 307696 },
 ]
 
-[[distribution]]
-name = "docutils"
-version = "0.21.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/ed/aefcc8cd0ba62a0560c3c18c33925362d46c6075480bfa4df87b28e169a9/docutils-0.21.2.tar.gz", hash = "sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f", size = 2204444 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8f/d7/9322c609343d929e75e7e5e6255e614fcc67572cfd083959cdef3b7aad79/docutils-0.21.2-py3-none-any.whl", hash = "sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2", size = 587408 },
-]
-
 [[distribution]]
 name = "ewmhlib"
 version = "0.2"
@@ -838,15 +798,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9c/1f/19ebc343cc71a7ffa78f17018535adc5cbdd87afb31d7c34874680148b32/ifaddr-0.2.0-py3-none-any.whl", hash = "sha256:085e0305cfe6f16ab12d72e2024030f5d52674afad6911bb1eee207177b8a748", size = 12314 },
 ]
 
-[[distribution]]
-name = "imagesize"
-version = "1.4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a7/84/62473fb57d61e31fef6e36d64a179c8781605429fd927b5dd608c997be31/imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a", size = 1280026 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ff/62/85c4c919272577931d407be5ba5d71c20f0b616d31a0befe0ae45bb79abd/imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b", size = 8769 },
-]
-
 [[distribution]]
 name = "import-linter"
 version = "2.0"
@@ -1066,18 +1017,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
 ]
 
-[[distribution]]
-name = "markdown-it-py"
-version = "3.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mdurl" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/38/71/3b932df36c1a044d397a1f92d1cf91ee0a503d91e470cbd670aa66b07ed0/markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb", size = 74596 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/d7/1ec15b46af6af88f19b8e5ffea08fa375d433c998b8a7639e76935c14f1f/markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1", size = 87528 },
-]
-
 [[distribution]]
 name = "markupsafe"
 version = "2.1.5"
@@ -1137,27 +1076,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e3/31/aeab8a3db1fb22a7d04c5215f872b92451baf7f6595ffd59004aeead0b2c/matplotlib-3.9.1-cp312-cp312-win_amd64.whl", hash = "sha256:44a21d922f78ce40435cb35b43dd7d573cf2a30138d5c4b709d19f00e3907fd7", size = 7974774 },
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-[[distribution]]
-name = "mdit-py-plugins"
-version = "0.4.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown-it-py" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/00/6c/79c52651b22b64dba5c7bbabd7a294cc410bfb2353250dc8ade44d7d8ad8/mdit_py_plugins-0.4.1.tar.gz", hash = "sha256:834b8ac23d1cd60cec703646ffd22ae97b7955a6d596eb1d304be1e251ae499c", size = 42713 }
-wheels = [
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-[[distribution]]
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-version = "0.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d6/54/cfe61301667036ec958cb99bd3efefba235e65cdeb9c84d24a8293ba1d90/mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba", size = 8729 }
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-]
-
 [[distribution]]
 name = "mergedeep"
 version = "1.3.4"
@@ -1267,19 +1185,6 @@ dependencies = [
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/fa/b2ba8229b9381e8f6381c1dcae6f4159a7f72349e414ed19cfbbd1817173/MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7", size = 10850 }
 
-[[distribution]]
-name = "mpld3"
-version = "0.5.10"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "jinja2" },
-    { name = "matplotlib" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/58/19378f4189a034eb3efc17b133426b8551af1d3b2c70d641a63124579629/mpld3-0.5.10.tar.gz", hash = "sha256:a478eb404fa5212505c59133cf272cd9a94105872e605597720e7f84de38fbc7", size = 1027709 }
-wheels = [
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-
 [[distribution]]
 name = "mpmath"
 version = "1.3.0"
@@ -1387,23 +1292,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/2a/e2/5d3f6ada4297caebe1a2add3b126fe800c96f56dbe5d1988a2cbe0b267aa/mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d", size = 4695 },
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-version = "3.0.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "jinja2" },
-    { name = "markdown-it-py" },
-    { name = "mdit-py-plugins" },
-    { name = "pyyaml" },
-    { name = "sphinx" },
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-]
-
 [[distribution]]
 name = "natsort"
 version = "8.4.0"
@@ -1573,7 +1461,6 @@ dev = [
     { name = "av" },
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
-    { name = "breathe" },
     { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
@@ -1582,9 +1469,6 @@ dev = [
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "mpld3" },
-    { name = "myst-parser" },
-    { name = "natsort" },
     { name = "opencv-python-headless" },
     { name = "parameterized" },
     { name = "pyautogui" },
@@ -1603,6 +1487,7 @@ docs = [
     { name = "mkdocs" },
     { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
+    { name = "natsort" },
 ]
 testing = [
     { name = "coverage" },
@@ -5204,15 +5089,6 @@ wheels = [
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 ]
 
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 name = "sortedcontainers"
 version = "2.4.0"
@@ -5237,87 +5113,6 @@ wheels = [
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-source = { registry = "https://pypi.org/simple" }
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-    { name = "babel" },
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-    { name = "docutils" },
-    { name = "imagesize" },
-    { name = "jinja2" },
-    { name = "packaging" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "snowballstemmer" },
-    { name = "sphinxcontrib-applehelp" },
-    { name = "sphinxcontrib-devhelp" },
-    { name = "sphinxcontrib-htmlhelp" },
-    { name = "sphinxcontrib-jsmath" },
-    { name = "sphinxcontrib-qthelp" },
-    { name = "sphinxcontrib-serializinghtml" },
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From 3c192cbf88f1272622dcf7428fbb8624edb02689 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 16:57:43 -0700
Subject: [PATCH 204/247] op.sh: improvements (#33078)

improvements
---
 tools/op.sh | 139 ++++++++++++++++++++++++++++++++--------------------
 1 file changed, 87 insertions(+), 52 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 42bbb1973d3904..c7431c135b219a 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -6,7 +6,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
-function op_first_install() {
+function op_install() {
   (set -e
 
   echo "Installing op system-wide..."
@@ -30,16 +30,22 @@ function op_run_command() {
 
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
-function op_check_openpilot_dir() {
-  echo "Checking for openpilot directory..."
+function op_get_openpilot_dir() {
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
-      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
+}
+
+function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
+  if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    return 0
+  fi
 
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
@@ -52,28 +58,28 @@ function op_check_git() {
 
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found."
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
-    return 1
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
+    return 1
   fi
 
   echo "Checking for git submodules..."
   for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
-      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1
     fi
   done
-  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
 
   )
 }
@@ -88,22 +94,22 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
 
@@ -118,12 +124,12 @@ function op_check_python() {
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
 
@@ -133,9 +139,9 @@ function op_check_python() {
 function op_check_venv() {
   echo "Checking for venv..."
   if source $OPENPILOT_ROOT/.venv/bin/activate; then
-    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
   fi
 }
 
@@ -144,20 +150,32 @@ function op_before_cmd() {
     return 0
   fi
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
-  op_check_git
-  op_check_os
-  op_check_venv
-  op_check_python
-  echo -e "-----------------------------\n"
+
+  result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
+
+  op_activate_venv
+
+  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
+
+  if [[ -z $VERBOSE ]]; then
+    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+  else
+    echo -e "$result"
+  fi
 }
 
-function op_install() {
+function op_setup() {
   (set -e
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
+
+  op_check_openpilot_dir
   op_check_os
   op_check_python
 
@@ -182,6 +200,10 @@ function op_install() {
   )
 }
 
+function op_activate_venv() {
+  source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+}
+
 function op_venv() {
   ( set -e
 
@@ -191,7 +213,7 @@ function op_venv() {
 
   if [[ "$?" -eq 0 ]]; then
     # this must be run in the same shell as the user calling "op"
-    op_check_openpilot_dir > /dev/null
+    op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
 }
@@ -199,7 +221,9 @@ function op_venv() {
 function op_check() {
   (set -e
 
+  VERBOSE=1
   op_before_cmd
+  unset VERBOSE
 
   )
 }
@@ -208,7 +232,7 @@ function op_run() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
+  op_run_command ./launch_openpilot.sh $@
 
   )
 }
@@ -226,7 +250,7 @@ function op_juggle() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command tools/plotjuggler/juggle.py $@
 
   )
 }
@@ -244,7 +268,7 @@ function op_replay() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
+  op_run_command tools/replay/replay $@
 
   )
 }
@@ -253,7 +277,7 @@ function op_cabana() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+  op_run_command tools/cabana/cabana $@
 
   )
 }
@@ -262,8 +286,8 @@ function op_sim() {
   (set -e
 
   op_before_cmd
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+  op_run_command exec tools/sim/run_bridge.py &
+  op_run_command exec tools/sim/launch_openpilot.sh
 
   )
 }
@@ -284,18 +308,18 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
-  echo -e "  ${BOLD}build${NC}      Build openpilot"
-  echo -e "  ${BOLD}run${NC}        Run openpilot"
-  echo -e "  ${BOLD}sim${NC}        Run openpilot in a simulator"
-  echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
-  echo -e "  ${BOLD}replay${NC}     Run replay"
-  echo -e "  ${BOLD}cabana${NC}     Run cabana"
-  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
-  echo -e "  ${BOLD}help${NC}       Show this message"
-  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}venv${NC}     Activate the virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check system requirements (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Setup requirements to use openpilot"
+  echo -e "  ${BOLD}build${NC}    Build openpilot"
+  echo -e "  ${BOLD}run${NC}      Run openpilot"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}   Run replay"
+  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}linter${NC}   Run all the pre-commit checks"
+  echo -e "  ${BOLD}help${NC}     Show this message"
+  echo -e "  ${BOLD}install${NC}  Install this tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
@@ -304,6 +328,8 @@ function op_default() {
   echo "          Don't actually run anything, just print what would be"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
   echo "          Don't run checks before running a command"
+  echo -e "  ${BOLD}-v, --verbose${NC}"
+  echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -325,13 +351,14 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
+    -v | --verbose ) shift 1; VERBOSE="1" ;;
   esac
 
   # parse Commands
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    install )   shift 1; op_install "$@" ;;
+    setup )   shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
@@ -339,7 +366,7 @@ function _op() {
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
-    --install ) shift 1; op_first_install "$@" ;;
+    install )   shift 1; op_install "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
@@ -349,7 +376,7 @@ _op $@
 # remove from env
 unset -f _op
 unset -f op_check
-unset -f op_install
+unset -f op_setup
 unset -f op_build
 unset -f op_run
 unset -f op_juggle
@@ -358,7 +385,7 @@ unset -f op_check_openpilot_dir
 unset -f op_check_git
 unset -f op_check_python
 unset -f op_check_os
-unset -f op_first_install
+unset -f op_install
 unset -f op_default
 unset -f op_run_command
 unset -f op_linter
@@ -367,6 +394,14 @@ unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
 unset -f op_sim
+unset -f op_activate_venv
+unset -f op_get_openpilot_dir
 unset DRY
+unset NC
+unset RED
+unset GREEN
+unset UNDERLINE
+unset BOLD
 unset OPENPILOT_ROOT
 unset NO_VERIFY
+unset VERBOSE

From 02e30ac14053212436ea5129030742a8c7dfe3fb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 16:59:42 -0700
Subject: [PATCH 205/247] Update setup.sh

---
 tools/setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 8aca889b8c44cc..209188610324ad 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -44,8 +44,8 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh --install
   $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh setup
 
   # make op usable right now
   alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""

From 8827067eaeba384722066caeeee4a35f30026d07 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 18:21:42 -0700
Subject: [PATCH 206/247] op.sh: misc fixups (#33080)

* rm run

* little more

* lint

* one more lint

* cleanup
---
 tools/op.sh | 36 ++++++++++++------------------------
 1 file changed, 12 insertions(+), 24 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index c7431c135b219a..55cc3d60d917f5 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -228,15 +228,6 @@ function op_check() {
   )
 }
 
-function op_run() {
-  (set -e
-
-  op_before_cmd
-  op_run_command ./launch_openpilot.sh $@
-
-  )
-}
-
 function op_build() {
   (set -e
 
@@ -255,7 +246,7 @@ function op_juggle() {
   )
 }
 
-function op_linter() {
+function op_lint() {
   (set -e
 
   op_before_cmd
@@ -297,7 +288,7 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Description:${NC}"
   echo "  op is your entry point for all things related to openpilot development."
-  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op is only a wrapper for existing scripts, tools, and commands."
   echo "  op will always show you what it will run on your system."
   echo ""
   echo "  op will try to find your openpilot directory in the following order:"
@@ -308,26 +299,25 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}    Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}setup${NC}    Setup requirements to use openpilot"
+  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Build openpilot"
-  echo -e "  ${BOLD}run${NC}      Run openpilot"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}linter${NC}   Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
   echo -e "  ${BOLD}help${NC}     Show this message"
-  echo -e "  ${BOLD}install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
-  echo "          Don't actually run anything, just print what would be"
+  echo "          Don't actually run anything, just print what would be run"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
-  echo "          Don't run checks before running a command"
+  echo "          Skip environment check before running commands"
   echo -e "  ${BOLD}-v, --verbose${NC}"
   echo "          Show the result of all checks before running a command"
   echo ""
@@ -358,12 +348,11 @@ function _op() {
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    setup )   shift 1; op_setup "$@" ;;
+    setup )     shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
-    run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
-    linter )    shift 1; op_linter "$@" ;;
+    lint )      shift 1; op_lint "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
     install )   shift 1; op_install "$@" ;;
@@ -378,7 +367,6 @@ unset -f _op
 unset -f op_check
 unset -f op_setup
 unset -f op_build
-unset -f op_run
 unset -f op_juggle
 unset -f op_venv
 unset -f op_check_openpilot_dir
@@ -388,7 +376,7 @@ unset -f op_check_os
 unset -f op_install
 unset -f op_default
 unset -f op_run_command
-unset -f op_linter
+unset -f op_lint
 unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv

From d128dbe27f9a4b87f6f37d68b22e0a385cf29d70 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 18:59:29 -0700
Subject: [PATCH 207/247] setup.sh: fast git clone (#33081)

* setup.sh: filter clone

* no submodules
---
 tools/setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 209188610324ad..9b1ee9c0c1a21a 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -31,7 +31,7 @@ function check_git() {
 
 function git_clone() {
   echo "Cloning openpilot..."
-  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+  if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
     if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
       return 0

From f39c5c22e80740700aa3c9bd8cba2a684903e9d2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 19:30:40 -0700
Subject: [PATCH 208/247] remove opencv-python-headless (#33082)

---
 pyproject.toml         | 1 -
 tools/webcam/camera.py | 1 +
 uv.lock                | 1 -
 3 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 8288340e5aa686..afebfe7a7d3336 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index d1d61b64d7a473..ddff46c5d3e012 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,3 +1,4 @@
+# TODO: remove the cv2 dependency, it's only used here
 import cv2 as cv
 import numpy as np
 
diff --git a/uv.lock b/uv.lock
index fa873c63132ce7..866cf921aed6fc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1469,7 +1469,6 @@ dev = [
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "opencv-python-headless" },
     { name = "parameterized" },
     { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },

From e68bb26e14d4e85f61ab3f58ac9667ca9d6ea565 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 25 Jul 2024 22:05:10 -0700
Subject: [PATCH 209/247] tools: keep re pattern file small (#33084)

remove bz2 from re file
---
 selfdrive/debug/run_process_on_route.py         |  3 +--
 selfdrive/test/process_replay/model_replay.py   |  3 +--
 selfdrive/test/process_replay/regen.py          |  3 +--
 selfdrive/test/process_replay/test_processes.py |  3 +--
 tools/lib/helpers.py                            | 13 -------------
 tools/lib/logreader.py                          | 10 ++++++++++
 tools/plotjuggler/juggle.py                     |  3 +--
 7 files changed, 15 insertions(+), 23 deletions(-)

diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 90db14bc9a0dac..c98763f3c96dba 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -3,8 +3,7 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 0e43cad820ba57..a58a58107e4385 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,8 +10,7 @@
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index bf7a4bfd978a95..fe33443b49d224 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -14,8 +14,7 @@
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 
 
 class DummyFrameReader(BaseFrameReader):
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 533ab125f9ab8e..3bd58dfacb9d9d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -14,8 +14,7 @@
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_openpilot_enabled, check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index e9b4b85e70677f..7c34e17cb1ee0c 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,6 +1,3 @@
-import bz2
-
-
 # regex patterns
 class RE:
   DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
@@ -18,13 +15,3 @@ class RE:
 
   EXPLORER_FILE = fr'^(?P<segment_name>{SEGMENT_NAME})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
-
-
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 07a4b2003ebdea..2df1c052561a58 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -27,6 +27,16 @@
 RawLogIterable = Iterable[bytes]
 
 
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress:
+    dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
+
+
 class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1d1612a1cdb88a..22854b368d908b 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,8 +12,7 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 

From a1dce6ef475c69e446ab1ce13f1aadb26092804c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 11:34:36 -0700
Subject: [PATCH 210/247] op.sh: run pytest (#33090)

test
---
 tools/op.sh | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/tools/op.sh b/tools/op.sh
index 55cc3d60d917f5..3dd375c960556b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -255,6 +255,15 @@ function op_lint() {
   )
 }
 
+function op_test() {
+  (set -e
+
+  op_before_cmd
+  op_run_command pytest $@
+
+  )
+}
+
 function op_replay() {
   (set -e
 
@@ -308,6 +317,7 @@ function op_default() {
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
   echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"
   echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
@@ -353,6 +363,7 @@ function _op() {
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
     lint )      shift 1; op_lint "$@" ;;
+    test )      shift 1; op_test "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
     install )   shift 1; op_install "$@" ;;
@@ -384,6 +395,7 @@ unset -f op_before_cmd
 unset -f op_sim
 unset -f op_activate_venv
 unset -f op_get_openpilot_dir
+unset -f op_test
 unset DRY
 unset NC
 unset RED

From d24b80fca4e554325fe455ac2ea2cfbaafe570e8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 14:40:14 -0700
Subject: [PATCH 211/247] remove body submodule (#33091)

* remove body submodule

* little more

* fix op
---
 .gitmodules              | 3 ---
 SConstruct               | 1 -
 body                     | 1 -
 release/release_files.py | 2 --
 tools/op.sh              | 2 +-
 5 files changed, 1 insertion(+), 8 deletions(-)
 delete mode 160000 body

diff --git a/.gitmodules b/.gitmodules
index e33902db52e476..20c2c848a69769 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,9 +10,6 @@
 [submodule "rednose_repo"]
   path = rednose_repo
   url = ../../commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc
diff --git a/SConstruct b/SConstruct
index 329ebe3308642b..fb5c43c9ad8f4d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -360,7 +360,6 @@ Export('messaging')
 
 # Build other submodules
 SConscript([
-  'body/board/SConscript',
   'opendbc/can/SConscript',
   'panda/SConscript',
 ])
diff --git a/body b/body
deleted file mode 160000
index c433da944f0e4d..00000000000000
--- a/body
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c433da944f0e4d974cd66601effa66a06355debe
diff --git a/release/release_files.py b/release/release_files.py
index 24ce6d14b33448..1590807435be3b 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -10,8 +10,6 @@
 # - minimizing release download size
 # - keeping the diff readable
 blacklist = [
-  "body/STL/",
-
   "panda/drivers/",
   "panda/examples/",
   "panda/tests/safety/",
diff --git a/tools/op.sh b/tools/op.sh
index 3dd375c960556b..d3311c81faa871 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git submodules..."
-  for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+  for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
       echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1

From a1d2e84212904e23a1e3585c1f216ed6b94402a4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:04:57 -0700
Subject: [PATCH 212/247] update tinygrad url to tinygrad/tinygrad (#33093)

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index 20c2c848a69769..1d5d04577e9fa9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

From 00d9748d9a4cead5c9e968fa9fb607fbf74955e4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:08:36 -0700
Subject: [PATCH 213/247] op.sh: parallel submodule update

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index d3311c81faa871..faa75951de8e6c 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -188,7 +188,7 @@ function op_setup() {
   echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
 
   echo "Getting git submodules..."
-  op_run_command git submodule update --init --recursive
+  op_run_command git submodule update --jobs 4 --init --recursive
   echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
 
   echo "Pulling git lfs files..."

From 6b5f88a5332b42ceed96e2669208c690f4fde303 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:17:14 -0700
Subject: [PATCH 214/247] cleanup macOS dependencies (#33094)

---
 tools/mac_setup.sh | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index d19f1cae86544e..282121ef1d4ca6 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -36,12 +36,9 @@ if [[ $(command -v brew) == "" ]]; then
 fi
 
 brew bundle --file=- <<-EOS
-brew "catch2"
-brew "cmake"
 brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
-brew "bzip2"
 brew "capnp"
 brew "coreutils"
 brew "eigen"

From eab9cd751c99a0a5046cfb31711daab145f164b2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 15:28:13 -0700
Subject: [PATCH 215/247] op.sh: check submodules (#33095)

submodules
---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index faa75951de8e6c..6e07965392014e 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git submodules..."
-  for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+  for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
       echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1

From db2a8e9506bf4b76f34240b79bc5643f1db3e0b1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:58:00 -0700
Subject: [PATCH 216/247] docs: turning the speed blue (#33079)

* blue speed

* compile

* just blue

* cleanup
---
 docs/docs/how-to/first-pr.md               |  0
 docs/docs/how-to/turn-the-speed-blue.md    | 93 ++++++++++++++++++++++
 docs/docs/how-to/turning-the-speed-blue.md |  4 -
 docs/mkdocs.yml                            |  2 +-
 4 files changed, 94 insertions(+), 5 deletions(-)
 delete mode 100644 docs/docs/how-to/first-pr.md
 create mode 100644 docs/docs/how-to/turn-the-speed-blue.md
 delete mode 100644 docs/docs/how-to/turning-the-speed-blue.md

diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md
new file mode 100644
index 00000000000000..28e1a376ac2ca0
--- /dev/null
+++ b/docs/docs/how-to/turn-the-speed-blue.md
@@ -0,0 +1,93 @@
+# Turn the speed blue
+*A getting started guide for openpilot development*
+
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+
+## 1. Setup your development environment
+
+Run this to clone openpilot and install all the dependencies:
+```bash
+curl -fsSL openpilot.comma.ai | bash
+```
+
+Then, compile openpilot:
+```bash
+cd openpilot
+scons -j8
+```
+
+## 2. Run replay
+
+We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
+```bash
+# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+```
+
+The openpilot UI should launch and show a replay of the demo route.
+
+If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
+
+## 3. Make the speed blue
+
+Search for “mph” with git grep in the `ui` folder.
+```bash
+$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+```
+
+The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+```bash
+$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
++++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
++  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
++  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+```
+
+
+## 4. Rebuild UI, and admire your work
+
+```
+scons -j8 && selfdrive/ui/ui
+```
+
+![](https://blog.comma.ai/img/blue_speed_ui.png)
+
+## 5. Push your fork to GitHub
+
+Click fork on GitHub. Then, push with:
+```bash
+git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+```
+
+### 6. Run your fork on device in your car!
+
+Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+```
+installer.comma.ai/<your-github-username>/master
+```
+
+### 7. Admire your work IRL
+
+![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/docs/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md
deleted file mode 100644
index f68faa7b9fd4c1..00000000000000
--- a/docs/docs/how-to/turning-the-speed-blue.md
+++ /dev/null
@@ -1,4 +0,0 @@
-This section is for how-to's on common workflows.
-
-They'll be like this blog post we wrote:
-https://blog.comma.ai/turning-the-speed-blue/
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 92cb501b8bab56..1e19d286a1b173 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -17,7 +17,7 @@ nav:
   - Getting Started:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
-    #- Make my first pull request: how-to/first-pr.md
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md

From d7159cd3c77cbb8eba6c347090780f49e6104cb5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 16:10:00 -0700
Subject: [PATCH 217/247] op.sh: misc improvements (#33096)

* check for install

* venv

* build
---
 tools/op.sh | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 6e07965392014e..8533017d8e6ecd 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -14,7 +14,8 @@ function op_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
+  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
@@ -212,6 +213,12 @@ function op_venv() {
   )
 
   if [[ "$?" -eq 0 ]]; then
+
+    if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then
+      echo "Run 'op venv' or 'source op.sh venv' to activate your venv!"
+      return 1
+    fi
+
     # this must be run in the same shell as the user calling "op"
     op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
@@ -231,7 +238,9 @@ function op_check() {
 function op_build() {
   (set -e
 
+  CDIR=$(pwd)
   op_before_cmd
+  cd "$CDIR"
   op_run_command scons $@
 
   )
@@ -311,7 +320,7 @@ function op_default() {
   echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
-  echo -e "  ${BOLD}build${NC}    Build openpilot"
+  echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"

From c8d5a3fe25dfda776adc3daa7020c20f03e8bf5e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 16:25:07 -0700
Subject: [PATCH 218/247] docs: style for external links

---
 docs/mkdocs.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 1e19d286a1b173..82db4971484ab7 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -26,10 +26,10 @@ nav:
   - Contributing:
     - Roadmap: contributing/roadmap.md
     #- Architecture: contributing/architecture.md
-    - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+    - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
   - Links:
-    - Blog: https://blog.comma.ai
-    - Bounties: https://comma.ai/bounties
-    - GitHub: https://github.com/commaai
-    - Discord: https://discord.comma.ai
-    - X: https://x.com/comma_ai
+    - Blog →: https://blog.comma.ai
+    - Bounties →: https://comma.ai/bounties
+    - GitHub →: https://github.com/commaai
+    - Discord →: https://discord.comma.ai
+    - X →: https://x.com/comma_ai

From 6f1ea5a1fd5606e3407f32ab3eacd86a02d9a6ab Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Fri, 26 Jul 2024 19:29:08 -0700
Subject: [PATCH 219/247] Docs: Added venv step (#33097)

---
 docs/docs/how-to/turn-the-speed-blue.md | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md
index 28e1a376ac2ca0..f76e9e489e5589 100644
--- a/docs/docs/how-to/turn-the-speed-blue.md
+++ b/docs/docs/how-to/turn-the-speed-blue.md
@@ -12,9 +12,14 @@ Run this to clone openpilot and install all the dependencies:
 curl -fsSL openpilot.comma.ai | bash
 ```
 
-Then, compile openpilot:
+Navigate to openpilot folder & activate a Python virtual environment
 ```bash
 cd openpilot
+source .venv/bin/activate
+```
+
+Then, compile openpilot:
+```bash
 scons -j8
 ```
 

From 7dec7c39bec0b7015c9cc12ee78f07a07ed47ee6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 26 Jul 2024 19:33:35 -0700
Subject: [PATCH 220/247] uploader: compress with zstd (#32736)

* zstd uploader

* fix that

* fix name of function

* comment

* log failed

* fix comma_api_source for routes with both bz2 and zst rlogs

* TODO

* 10-14 achieves almost no benefit on qlogs in a few cases, but takes 2x the time

* these aren't written out

* regen: specify any list of sources

ooh this is pretty nice

* regen and process replay

* damn, actually we don't need all this (cool tho)

Revert "regen: specify any list of sources"

This reverts commit ceb0b4abed9ad463a9fe98d9b98a05875a52806f.

* just let it auto resolve

* fix athenad/uploader tests

* zst here too

* TODOs

* yes

* Revert "TODOs"

This reverts commit 8c7da1dbd0340c72290b5eb5563b642080ddc131.

* Revert "zst here too"

This reverts commit 23b0023ddfd22c8090be7a7caa09e7026a12aa5c.

* Revert "just let it auto resolve"

This reverts commit f296d62424227ad05facc62abc18a6f81b474e84.

* Revert "regen and process replay"

This reverts commit 0768330e96974a42616d229d159780619d049cd0.

* revert readme

* not in save_log either

* lfg

* Revert "lfg"

This reverts commit 3718559c6c4de7d1f0c80dc9f1a1d335fe679a89.
---
 system/athena/athenad.py              | 17 ++++----
 system/athena/tests/test_athenad.py   | 59 +++++++++++++++------------
 system/loggerd/tests/test_uploader.py | 10 ++---
 system/loggerd/uploader.py            | 13 +++---
 4 files changed, 53 insertions(+), 46 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b4f9b8b6a719fd..96c34b0984f4b4 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -2,7 +2,6 @@
 from __future__ import annotations
 
 import base64
-import bz2
 import hashlib
 import io
 import json
@@ -15,6 +14,7 @@
 import tempfile
 import threading
 import time
+import zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
@@ -35,6 +35,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
@@ -103,8 +104,8 @@ def from_dict(cls, d: dict) -> UploadItem:
 cur_upload_items: dict[int, UploadItem | None] = {}
 
 
-def strip_bz2_extension(fn: str) -> str:
-  if fn.endswith('.bz2'):
+def strip_zst_extension(fn: str) -> str:
+  if fn.endswith('.zst'):
     return fn[:-4]
   return fn
 
@@ -283,16 +284,16 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
   path = upload_item.path
   compress = False
 
-  # If file does not exist, but does exist without the .bz2 extension we will compress on the fly
-  if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
-    path = strip_bz2_extension(path)
+  # If file does not exist, but does exist without the .zst extension we will compress on the fly
+  if not os.path.exists(path) and os.path.exists(strip_zst_extension(path)):
+    path = strip_zst_extension(path)
     compress = True
 
   with open(path, "rb") as f:
     content = f.read()
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      content = bz2.compress(content)
+      content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
   with io.BytesIO(content) as data:
     return requests.put(upload_item.url,
@@ -375,7 +376,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       continue
 
     path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
+    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
       failed.append(file.fn)
       continue
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 48519a0ffd2a0e..413255b587618a 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
   with Timeout(2, 'HTTP Server seeding failed'):
     while True:
       try:
-        requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
+        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
         break
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
@@ -174,54 +174,59 @@ def test_list_data_directory(self):
     assert resp, 'list empty!'
     assert len(resp) == len(expected)
 
-  def test_strip_bz2_extension(self):
+  def test_strip_extension(self):
+    # any requested log file with an invalid extension won't return as existing
     fn = self._create_file('qlog.bz2')
     if fn.endswith('.bz2'):
-      assert athenad.strip_bz2_extension(fn) == fn[:-4]
+      assert athenad.strip_zst_extension(fn) == fn
+
+    fn = self._create_file('qlog.zst')
+    if fn.endswith('.zst'):
+      assert athenad.strip_zst_extension(fn) == fn[:-4]
 
   @pytest.mark.parametrize("compress", [True, False])
   def test_do_upload(self, host, compress):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
-    upload_fn = fn + ('.bz2' if compress else '')
+    upload_fn = fn + ('.zst' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
     assert resp.status_code == 201
 
   def test_upload_file_to_url(self, host):
-    fn = self._create_file('qlog.bz2')
+    fn = self._create_file('qlog.zst')
 
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", f"{host}/qlog.zst", {})
     assert resp['enqueued'] == 1
     assert 'failed' not in resp
-    assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items()
+    assert {"path": fn, "url": f"{host}/qlog.zst", "headers": {}}.items() <= resp['items'][0].items()
     assert resp['items'][0].get('id') is not None
     assert athenad.upload_queue.qsize() == 1
 
   def test_upload_file_to_url_duplicate(self, host):
-    self._create_file('qlog.bz2')
+    self._create_file('qlog.zst')
 
-    url1 = f"{host}/qlog.bz2?sig=sig1"
-    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+    url1 = f"{host}/qlog.zst?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.zst", url1, {})
 
     # Upload same file again, but with different signature
-    url2 = f"{host}/qlog.bz2?sig=sig2"
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    url2 = f"{host}/qlog.zst?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", url2, {})
     assert resp == {'enqueued': 0, 'items': []}
 
   def test_upload_file_to_url_does_not_exist(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.zst", "http://localhost:1238", {})
+    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.zst']}
 
   @with_upload_handler
   def test_upload_handler(self, host):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -236,8 +241,8 @@ def test_upload_handler(self, host):
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('requests.put')
     mock_put.return_value.status_code = status
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -251,8 +256,8 @@ def test_upload_handler_retry(self, mocker, host, status, retry):
   @with_upload_handler
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
     item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     athenad.upload_queue.put_nowait(item_no_retry)
@@ -272,7 +277,7 @@ def test_upload_handler_timeout(self):
 
   @with_upload_handler
   def test_cancel_upload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
@@ -291,8 +296,8 @@ def test_cancel_expiry(self):
     ts = int(t_future.strftime("%s")) * 1000
 
     # Item that would time out if actually uploaded
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=ts, id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -306,8 +311,8 @@ def test_list_upload_queue_empty(self):
 
   @with_upload_handler
   def test_list_upload_queue_current(self, host: str):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -317,7 +322,7 @@ def test_list_upload_queue_current(self, host: str):
     assert items[0]['current']
 
   def test_list_upload_queue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6591198281b992..fa716002635a08 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -62,10 +62,10 @@ def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
   def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]:
     keys = []
     if boot:
-      keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
-      keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
-    keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
+      keys += [f"boot/{self.seg_format.format(i)}.zst" for i in seg1]
+      keys += [f"boot/{self.seg_format2.format(i)}.zst" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/qlog.zst" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/qlog.zst" for i in seg2]
     return keys
 
   def test_upload(self):
@@ -159,7 +159,7 @@ def test_no_upload_with_lock_file(self):
     self.join_thread()
 
     for f_path in f_paths:
-      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
+      fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
       uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       assert not uploaded, "File upload when locked"
 
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 832a227798e49d..ee16193cd259d1 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import bz2
 import io
 import json
 import os
@@ -9,6 +8,7 @@
 import time
 import traceback
 import datetime
+import zstd
 from typing import BinaryIO
 from collections.abc import Iterator
 
@@ -26,6 +26,7 @@
 UPLOAD_ATTR_VALUE = b'1'
 
 UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
@@ -83,7 +84,7 @@ def __init__(self, dongle_id: str, root: str):
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
@@ -152,8 +153,8 @@ def do_upload(self, key: str, fn: str):
 
     with open(fn, "rb") as f:
       data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
+      if key.endswith('.zst') and not fn.endswith('.zst'):
+        compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL)
         data = io.BytesIO(compressed)
       else:
         data = f
@@ -218,8 +219,8 @@ def step(self, network_type: int, metered: bool) -> bool | None:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 

From 4caecf21439eb65cedb25df589b140c9c09e26fc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 26 Jul 2024 21:14:06 -0700
Subject: [PATCH 221/247] test_onroad: use zstd compression (#33100)

* use zstd in test_onroad

* debug

* now leans towards 0.4 instead of 0.5

* 5x runs

* better

* more

* Update selfdrive/test/test_onroad.py

* revert Jenkinsfile

* and this
---
 selfdrive/test/test_onroad.py | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1e4669fb0a6b16..d78d2294ad276f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,4 +1,3 @@
-import bz2
 import math
 import json
 import os
@@ -9,6 +8,7 @@
 import subprocess
 import time
 import numpy as np
+import zstd
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -20,9 +20,10 @@
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 
 """
@@ -166,10 +167,10 @@ def setup_class(cls):
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
       assert f.is_file()
-      cls.log_sizes[f]  = f.stat().st_size / 1e6
+      cls.log_sizes[f] = f.stat().st_size / 1e6
       if f.name in ("qlog", "rlog"):
         with open(f, 'rb') as ff:
-          cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6
+          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
 
   @cached_property
@@ -206,7 +207,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.4 < sz < 0.6
+        assert 0.4 < sz < 0.5
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 1b3b5ab75857465f58ec8a687db04c8ee0470e05 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 28 Jul 2024 02:03:47 -0700
Subject: [PATCH 222/247] use zstandard library (#33110)

* use zstandard

* run 10

* bye bye

* this was a little overzealous

* clean up
---
 pyproject.toml                |   2 +-
 selfdrive/test/test_onroad.py |   4 +-
 system/athena/athenad.py      |   2 +-
 system/loggerd/uploader.py    |   2 +-
 tools/lib/logreader.py        |   2 +-
 uv.lock                       | 134 ++++++++++++++++++++++------------
 6 files changed, 92 insertions(+), 54 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index afebfe7a7d3336..dd801994f19df8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -61,7 +61,7 @@ dependencies = [
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
   # logreader
-  "zstd",
+  "zstandard",
 ]
 
 [project.optional-dependencies]
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index d78d2294ad276f..e29e241da9f0e1 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -8,7 +8,7 @@
 import subprocess
 import time
 import numpy as np
-import zstd
+import zstandard as zstd
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -207,7 +207,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.4 < sz < 0.5
+        assert 0.45 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 96c34b0984f4b4..52e3a29ac8653f 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -14,7 +14,7 @@
 import tempfile
 import threading
 import time
-import zstd
+import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index ee16193cd259d1..d984936e88df67 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -8,7 +8,7 @@
 import time
 import traceback
 import datetime
-import zstd
+import zstandard as zstd
 from typing import BinaryIO
 from collections.abc import Iterator
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2df1c052561a58..0f005961417a11 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -10,7 +10,7 @@
 import tqdm
 import urllib.parse
 import warnings
-import zstd
+import zstandard as zstd
 
 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
diff --git a/uv.lock b/uv.lock
index 866cf921aed6fc..fa5c3646735ce3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1422,38 +1422,38 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
-    { name = "aiohttp" },
-    { name = "aiortc" },
+    { name = "aiohttp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "aiortc", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "casadi", version = "3.6.5", source = { registry = "https://pypi.org/simple" }, marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
     { name = "casadi", version = "3.6.6", source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }, marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
-    { name = "cffi" },
-    { name = "crcmod" },
-    { name = "cython" },
-    { name = "future-fstrings" },
-    { name = "json-rpc" },
-    { name = "libusb1" },
-    { name = "numpy" },
-    { name = "onnx" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
-    { name = "psutil" },
-    { name = "pyaudio" },
-    { name = "pycapnp" },
-    { name = "pycryptodome" },
-    { name = "pyjwt" },
-    { name = "pyserial" },
-    { name = "pyzmq" },
-    { name = "requests" },
-    { name = "scons" },
-    { name = "sentry-sdk" },
-    { name = "setuptools" },
-    { name = "smbus2" },
-    { name = "sounddevice" },
-    { name = "spidev", marker = "platform_system == 'Linux'" },
-    { name = "sympy" },
-    { name = "tqdm" },
-    { name = "websocket-client" },
-    { name = "zstd" },
+    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "crcmod", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "cython", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "future-fstrings", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "json-rpc", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" },
+    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pycryptodome", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyserial", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyzmq", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "scons", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "sentry-sdk", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "zstandard", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 
 [distribution.optional-dependencies]
@@ -5322,22 +5322,60 @@ wheels = [
 ]
 
 [[distribution]]
-name = "zstd"
-version = "1.5.5.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ba/b4/bf8c6a6b73c6b267a13df955f821f041fcc770b56820b135849f33e3b888/zstd-1.5.5.1.tar.gz", hash = "sha256:1ef980abf0e1e072b028d2d76ef95b476632651c96225cf30b619c6eef625672", size = 1106585 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/10/6f/5b8a828394af6153ec08fd4814c9a4bbae9ec5bce3cb948bb0b9b6872022/zstd-1.5.5.1-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:022f935a8666e08f0fff6204938a84d9fe4fcd8235a205787275933a07a164fb", size = 287614 },
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+    { url = "https://files.pythonhosted.org/packages/6e/99/cb1e63e931de15c88af26085e3f2d9af9ce53ccafac73b6e48418fd5a6e6/zstandard-0.23.0-cp313-cp313-musllinux_1_2_i686.whl", hash = "sha256:9da6bc32faac9a293ddfdcb9108d4b20416219461e4ec64dfea8383cac186690", size = 4694239 },
+    { url = "https://files.pythonhosted.org/packages/ab/50/b1e703016eebbc6501fc92f34db7b1c68e54e567ef39e6e59cf5fb6f2ec0/zstandard-0.23.0-cp313-cp313-musllinux_1_2_ppc64le.whl", hash = "sha256:fd7699e8fd9969f455ef2926221e0233f81a2542921471382e77a9e2f2b57f4b", size = 5200149 },
+    { url = "https://files.pythonhosted.org/packages/aa/e0/932388630aaba70197c78bdb10cce2c91fae01a7e553b76ce85471aec690/zstandard-0.23.0-cp313-cp313-musllinux_1_2_s390x.whl", hash = "sha256:d477ed829077cd945b01fc3115edd132c47e6540ddcd96ca169facff28173057", size = 5655392 },
+    { url = "https://files.pythonhosted.org/packages/02/90/2633473864f67a15526324b007a9f96c96f56d5f32ef2a56cc12f9548723/zstandard-0.23.0-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:fa6ce8b52c5987b3e34d5674b0ab529a4602b632ebab0a93b07bfb4dfc8f8a33", size = 5191299 },
+    { url = "https://files.pythonhosted.org/packages/b0/4c/315ca5c32da7e2dc3455f3b2caee5c8c2246074a61aac6ec3378a97b7136/zstandard-0.23.0-cp313-cp313-win32.whl", hash = "sha256:a9b07268d0c3ca5c170a385a0ab9fb7fdd9f5fd866be004c4ea39e44edce47dd", size = 430862 },
+    { url = "https://files.pythonhosted.org/packages/a2/bf/c6aaba098e2d04781e8f4f7c0ba3c7aa73d00e4c436bcc0cf059a66691d1/zstandard-0.23.0-cp313-cp313-win_amd64.whl", hash = "sha256:f3513916e8c645d0610815c257cbfd3242adfd5c4cfa78be514e5a3ebb42a41b", size = 495578 },
 ]

From c51f37f63e58fb2bb28aeae711d688e796d36704 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 15:05:36 -0700
Subject: [PATCH 223/247] docs: start roadmap

---
 docs/docs/contributing/roadmap.md | 28 ++++++++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md
index 64ccdb3b75d0d0..0f536cb5156c3f 100644
--- a/docs/docs/contributing/roadmap.md
+++ b/docs/docs/contributing/roadmap.md
@@ -1,5 +1,29 @@
 # Roadmap
 
-Coming soon...
+This is the roadmap for the next major openpilot releases. Also check out
+* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
+* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
+* [Bounties](https://comma.ai/bounties) for paid individual issues
 
-For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties).
+## openpilot 0.10
+
+openpilot 0.10 will be the first release with a driving policy trained in
+a [learned simulator](https://youtu.be/EqQNZXqzFSI).
+
+* Driving model trained in a learned simlator
+* Always-on driver monitoring (behind a toggle)
+* GPS removed from the driving stack
+* 100KB qlogs
+* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
+* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
+
+## openpilot 1.0
+
+openpilot 1.0 will feature a fully end-to-end driving policy.
+
+* End-to-end longitudinal control in Chill mode
+* Automatic Emergency Braking (AEB)
+* Driver monitoring with sleep detection
+* Rolling updates/releases pushed out by CI
+* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

From 583e89d3a4f912911df2f1350cb109baa16c9f22 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sun, 28 Jul 2024 15:08:27 -0700
Subject: [PATCH 224/247] remove cv2 usage (#33101)

remove cv2
---
 selfdrive/ui/tests/test_ui/run.py |  3 +--
 tools/webcam/camera.py            | 28 +++++++++++-----------------
 2 files changed, 12 insertions(+), 19 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 98a600eebca05c..0b1d8424999c5a 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,6 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-from openpilot.tools.webcam.camera import Camera
 
 UI_DELAY = 0.5 # may be slower on CI?
 
@@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster):
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
+  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index ddff46c5d3e012..10900b60ff8323 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,6 +1,4 @@
-# TODO: remove the cv2 dependency, it's only used here
-import cv2 as cv
-import numpy as np
+import av
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
@@ -12,23 +10,19 @@ def __init__(self, cam_type_state, stream_type, camera_id):
     self.stream_type = stream_type
     self.cur_frame_id = 0
 
-    self.cap = cv.VideoCapture(camera_id)
-    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
-    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+    self.container = av.open(camera_id)
+    self.video_stream = self.container.streams.video[0]
+    self.W = self.video_stream.codec_context.width
+    self.H = self.video_stream.codec_context.height
 
   @classmethod
   def bgr2nv12(self, bgr):
-    yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
-    uv_row_cnt = yuv.shape[0] // 3
-    uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
-    yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
-    return yuv
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
 
   def read_frames(self):
-    while True:
-      sts , frame = self.cap.read()
-      if not sts:
-        break
-      yuv = Camera.bgr2nv12(frame)
+    for frame in self.container.decode(self.video_stream):
+      img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
+      yuv = Camera.bgr2nv12(img)
       yield yuv.data.tobytes()
-    self.cap.release()
+    self.container.close()

From 4fbac089f81079595df9852eace44cea9de3dd03 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 15:38:38 -0700
Subject: [PATCH 225/247] docs: fix nested structure (#33114)

* docs: fix nested structure

* test ci

* that too

* update that

* not common mark anymore
---
 .github/workflows/docs.yaml                   |  5 ++--
 .gitignore                                    |  4 +++-
 docs/.gitignore                               |  1 -
 docs/{README.md => README}                    |  0
 docs/{docs => }/car-porting/brand-port.md     |  0
 docs/{docs => }/car-porting/model-port.md     |  0
 .../car-porting/what-is-a-car-port.md         |  0
 docs/{docs => }/contributing/architecture.md  |  0
 docs/{docs => }/contributing/roadmap.md       |  1 +
 .../getting-started/what-is-openpilot.md      |  0
 docs/{docs => }/how-to/connect-to-comma.md    |  0
 docs/{docs => }/how-to/turn-the-speed-blue.md |  0
 docs/{docs => }/index.md                      |  0
 docs/mkdocs.yml => mkdocs.yml                 |  7 +++---
 pyproject.toml                                |  3 +--
 uv.lock                                       | 24 -------------------
 16 files changed, 11 insertions(+), 34 deletions(-)
 delete mode 100644 docs/.gitignore
 rename docs/{README.md => README} (100%)
 rename docs/{docs => }/car-porting/brand-port.md (100%)
 rename docs/{docs => }/car-porting/model-port.md (100%)
 rename docs/{docs => }/car-porting/what-is-a-car-port.md (100%)
 rename docs/{docs => }/contributing/architecture.md (100%)
 rename docs/{docs => }/contributing/roadmap.md (99%)
 rename docs/{docs => }/getting-started/what-is-openpilot.md (100%)
 rename docs/{docs => }/how-to/connect-to-comma.md (100%)
 rename docs/{docs => }/how-to/turn-the-speed-blue.md (100%)
 rename docs/{docs => }/index.md (100%)
 rename docs/mkdocs.yml => mkdocs.yml (95%)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 7fe4263db5e3d8..33f61173ffc938 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,8 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark
-        cd docs
+        pip install mkdocs mkdocs-terminal
         mkdocs build
 
     # Push to docs.comma.ai
@@ -52,7 +51,7 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs/site/ docs/
+        cp -r ../docs_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll
diff --git a/.gitignore b/.gitignore
index ac61591bfd49c9..d66823bb506f4b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,6 +14,8 @@ model2.png
 a.out
 .hypothesis
 
+/docs_site/
+
 *.dylib
 *.DSYM
 *.d
@@ -102,4 +104,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
\ No newline at end of file
+.ionide
diff --git a/docs/.gitignore b/docs/.gitignore
deleted file mode 100644
index 46ff2463e078b6..00000000000000
--- a/docs/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/site/
diff --git a/docs/README.md b/docs/README
similarity index 100%
rename from docs/README.md
rename to docs/README
diff --git a/docs/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
similarity index 100%
rename from docs/docs/car-porting/brand-port.md
rename to docs/car-porting/brand-port.md
diff --git a/docs/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
similarity index 100%
rename from docs/docs/car-porting/model-port.md
rename to docs/car-porting/model-port.md
diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
similarity index 100%
rename from docs/docs/car-porting/what-is-a-car-port.md
rename to docs/car-porting/what-is-a-car-port.md
diff --git a/docs/docs/contributing/architecture.md b/docs/contributing/architecture.md
similarity index 100%
rename from docs/docs/contributing/architecture.md
rename to docs/contributing/architecture.md
diff --git a/docs/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
similarity index 99%
rename from docs/docs/contributing/roadmap.md
rename to docs/contributing/roadmap.md
index 0f536cb5156c3f..22622a7a9630fe 100644
--- a/docs/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -1,6 +1,7 @@
 # Roadmap
 
 This is the roadmap for the next major openpilot releases. Also check out
+
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
similarity index 100%
rename from docs/docs/getting-started/what-is-openpilot.md
rename to docs/getting-started/what-is-openpilot.md
diff --git a/docs/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
similarity index 100%
rename from docs/docs/how-to/connect-to-comma.md
rename to docs/how-to/connect-to-comma.md
diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
similarity index 100%
rename from docs/docs/how-to/turn-the-speed-blue.md
rename to docs/how-to/turn-the-speed-blue.md
diff --git a/docs/docs/index.md b/docs/index.md
similarity index 100%
rename from docs/docs/index.md
rename to docs/index.md
diff --git a/docs/mkdocs.yml b/mkdocs.yml
similarity index 95%
rename from docs/mkdocs.yml
rename to mkdocs.yml
index 82db4971484ab7..3eb02aac8b18f2 100644
--- a/docs/mkdocs.yml
+++ b/mkdocs.yml
@@ -1,12 +1,13 @@
 site_name: openpilot docs
-docs_dir: docs
 repo_url: https://github.com/commaai/openpilot/
 site_url: https://docs.comma.ai
 
 strict: true
+docs_dir: docs
+site_dir: docs_site/
 
-plugins:
-  - commonmark
+#plugins:
+#  - commonmark
 
 theme:
   name: terminal
diff --git a/pyproject.toml b/pyproject.toml
index dd801994f19df8..456e8a8cdee0ba 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -68,9 +68,8 @@ dependencies = [
 docs = [
   "Jinja2",
   "natsort",
-  "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
+  "mkdocs",
   "mkdocs-terminal",
-  "mkdocs-plugin-commonmark",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index fa5c3646735ce3..980797805f65c3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1114,15 +1114,6 @@ dependencies = [
     { name = "yapf" },
 ]
 
-[[distribution]]
-name = "mistletoe"
-version = "1.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/96/ea46a376a7c4cd56955ecdfff0ea68de43996a4e6d1aee4599729453bd11/mistletoe-1.4.0.tar.gz", hash = "sha256:1630f906e5e4bbe66fdeb4d29d277e2ea515d642bb18a9b49b136361a9818c9d", size = 107203 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/0f/b5e545f0c7962be90366af3418989b12cf441d9da1e5d89d88f2f3e5cf8f/mistletoe-1.4.0-py3-none-any.whl", hash = "sha256:44a477803861de1237ba22e375c6b617690a31d2902b47279d1f8f7ed498a794", size = 51304 },
-]
-
 [[distribution]]
 name = "mkdocs"
 version = "1.4.3"
@@ -1144,20 +1135,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
 ]
 
-[[distribution]]
-name = "mkdocs-plugin-commonmark"
-version = "0.0.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown" },
-    { name = "mistletoe" },
-    { name = "mkdocs" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/fa/a1/4aaa744deec61d75dbe3c67c18f6e4c1fa7699bc2661b6eff5f891e83023/mkdocs-plugin-commonmark-0.0.4.tar.gz", hash = "sha256:9034507af26646e95188a130782dd07d65c86507fddd3b47ea340c02683e85e7", size = 10805 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f9/4a/4333ef1eb57ff130c7715ba0847dbdae471d153d94507004c92c591cb3c5/mkdocs_plugin_commonmark-0.0.4-py3-none-any.whl", hash = "sha256:70a33394d86a04ec97877ca1b2dff6181de3ec01ef4c7add178fa45b327da535", size = 12532 },
-]
-
 [[distribution]]
 name = "mkdocs-terminal"
 version = "4.4.0"
@@ -1484,7 +1461,6 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
-    { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
     { name = "natsort" },
 ]

From 691b948ad02a20e507d5059707f8cde51a94a703 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 16:07:39 -0700
Subject: [PATCH 226/247] docs: readthedocs theme (#33116)

* docs: read the docs theme

* nav depth
---
 .github/workflows/docs.yaml        |  2 +-
 docs/how-to/connect-to-comma.md    |  4 ++--
 docs/how-to/turn-the-speed-blue.md |  4 ++--
 mkdocs.yml                         | 10 +++-------
 pyproject.toml                     |  1 -
 uv.lock                            | 30 ------------------------------
 6 files changed, 8 insertions(+), 43 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 33f61173ffc938..26b60ffec27670 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,7 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs mkdocs-terminal
+        pip install mkdocs
         mkdocs build
 
     # Push to docs.comma.ai
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 53460ac990199b..d9c0c701c8201f 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -51,14 +51,14 @@ Host ssh.comma.ai
   IdentityFile ~/.ssh/my_github_key
 ```
 
-## One-off connection
+### One-off connection
 
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
 (Replace `ffffffffffffffff` with your dongle_id)
 
-## ssh.comma.ai host key fingerprint
+### ssh.comma.ai host key fingerprint
 
 ```
 Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index f76e9e489e5589..643023fdf459f8 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -86,13 +86,13 @@ git commit -m "Make the speed blue."
 git push --set-upstream origin master
 ```
 
-### 6. Run your fork on device in your car!
+## 6. Run your fork on device in your car!
 
 Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-### 7. Admire your work IRL
+## 7. Admire your work IRL
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/mkdocs.yml b/mkdocs.yml
index 3eb02aac8b18f2..b9a901c4d733f2 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -6,13 +6,9 @@ strict: true
 docs_dir: docs
 site_dir: docs_site/
 
-#plugins:
-#  - commonmark
-
 theme:
-  name: terminal
-  features:
-    - navigation.side.toc.hide
+  name: readthedocs
+  navigation_depth: 3
 
 nav:
   - Getting Started:
@@ -27,7 +23,7 @@ nav:
   - Contributing:
     - Roadmap: contributing/roadmap.md
     #- Architecture: contributing/architecture.md
-    - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
   - Links:
     - Blog →: https://blog.comma.ai
     - Bounties →: https://comma.ai/bounties
diff --git a/pyproject.toml b/pyproject.toml
index 456e8a8cdee0ba..86eb08fa1c12be 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -69,7 +69,6 @@ docs = [
   "Jinja2",
   "natsort",
   "mkdocs",
-  "mkdocs-terminal",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 980797805f65c3..a08ad9c4be2a26 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1135,22 +1135,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
 ]
 
-[[distribution]]
-name = "mkdocs-terminal"
-version = "4.4.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "jinja2" },
-    { name = "markdown" },
-    { name = "mkdocs" },
-    { name = "pygments" },
-    { name = "pymdown-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b3/a4/afa8826c3d6971f3e93cb3669936b25579314fef2a4d648fe72729c9675f/mkdocs_terminal-4.4.0.tar.gz", hash = "sha256:d72b87b3d0edf470695811cb56c440a43b0387212590a5dfb2f26861c6e518d7", size = 619482 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/93/65/7973dfe5ae03dd83a5a4e203b542ebacb16fd0c796e3f93f3cb98c3ffcc2/mkdocs_terminal-4.4.0-py3-none-any.whl", hash = "sha256:b2c94dc651c840e9762a1040d39371a31cc7482f7768e619e317419ebae4e40e", size = 641788 },
-]
-
 [[distribution]]
 name = "mouseinfo"
 version = "0.1.3"
@@ -1461,7 +1445,6 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
-    { name = "mkdocs-terminal" },
     { name = "natsort" },
 ]
 testing = [
@@ -1899,19 +1882,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4c/31/85a58625edc0b6967fe0904c9d89d019bcece3f3e3bf775b9151a8cf9d0d/pylibsrtp-0.10.0-cp38-abi3-win_amd64.whl", hash = "sha256:cd965d4b0e9a77b362526cab119f4d9ce39b83f1f20f46c6af8e694b86fa19a7", size = 1448840 },
 ]
 
-[[distribution]]
-name = "pymdown-extensions"
-version = "10.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown" },
-    { name = "pyyaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/85/71/5f48080bde77b07ca1eba6d7cb5c5598ac6c8f2a399846159b3c8b45e171/pymdown_extensions-10.4.tar.gz", hash = "sha256:bc46f11749ecd4d6b71cf62396104b4a200bad3498cb0f5dad1b8502fe461a35", size = 785151 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/98/2d/2929de81618c7213176899dd6372d6ec9c8f24337841dd74634fb69864ae/pymdown_extensions-10.4-py3-none-any.whl", hash = "sha256:cfc28d6a09d19448bcbf8eee3ce098c7d17ff99f7bd3069db4819af181212037", size = 240838 },
-]
-
 [[distribution]]
 name = "pymonctl"
 version = "0.92"

From 5ebc65f254f66ff13c679f9f699a92458c41aa8a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 16:38:38 -0700
Subject: [PATCH 227/247] docs: add concepts section

---
 docs/concepts/glossary.md                         |  8 ++++++++
 system/loggerd/README.md => docs/concepts/logs.md | 13 ++++++-------
 docs/concepts/safety.md                           |  1 +
 docs/how-to/replay-a-drive.md                     | 14 ++++++++++++++
 mkdocs.yml                                        |  4 ++++
 5 files changed, 33 insertions(+), 7 deletions(-)
 create mode 100644 docs/concepts/glossary.md
 rename system/loggerd/README.md => docs/concepts/logs.md (86%)
 create mode 120000 docs/concepts/safety.md
 create mode 100644 docs/how-to/replay-a-drive.md

diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
new file mode 100644
index 00000000000000..46e8e834d2186e
--- /dev/null
+++ b/docs/concepts/glossary.md
@@ -0,0 +1,8 @@
+# openpilot glossary
+
+* **route**:
+* **segment**: routes are split into one minute chunks called segments.
+* **panda**: this is . See the repo.
+* **onroad**:
+* **offroad**:
+* **comma 3X**:
diff --git a/system/loggerd/README.md b/docs/concepts/logs.md
similarity index 86%
rename from system/loggerd/README.md
rename to docs/concepts/logs.md
index 714e4242a04508..46ab2897df9eec 100644
--- a/system/loggerd/README.md
+++ b/docs/concepts/logs.md
@@ -1,10 +1,8 @@
-# loggerd
+# Logging
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
-
-## log types
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
@@ -15,9 +13,10 @@ rlogs contain all the messages passed amongst openpilot's processes. See [cereal
 ## {f,e,d}camera.hevc
 
 Each camera stream is H.265 encoded and written to its respective file.
-* fcamera.hevc is the road camera
-* ecamera.hevc is the wide road camera
-* dcamera.hevc is the driver camera
+
+* `fcamera.hevc` is the road camera
+* `ecamera.hevc` is the wide road camera
+* `dcamera.hevc` is the driver camera
 
 ## qlog.bz2 & qcamera.ts
 
diff --git a/docs/concepts/safety.md b/docs/concepts/safety.md
new file mode 120000
index 00000000000000..f286ad4b152ffc
--- /dev/null
+++ b/docs/concepts/safety.md
@@ -0,0 +1 @@
+../SAFETY.md
\ No newline at end of file
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
new file mode 100644
index 00000000000000..084b6bf825a785
--- /dev/null
+++ b/docs/how-to/replay-a-drive.md
@@ -0,0 +1,14 @@
+# Replay
+
+Replaying is a critical tool for openpilot development and debugging.
+
+## Replaying a route
+*Hardware required: none*
+
+Just run `tools/replay/replay --demo`.
+
+## Replaying CAN data
+*Hardware required: jungle and comma 3/3X*
+
+1. Connect your PC to a jungle.
+2.
diff --git a/mkdocs.yml b/mkdocs.yml
index b9a901c4d733f2..8778e28863b4ba 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -16,6 +16,10 @@ nav:
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    #- Replay a drive: how-to/replay-a-drive.md
+  - Concepts:
+    - Logs: concepts/logs.md
+    - Safety: concepts/safety.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md

From 1ae3adbe13cc4e9d4049b9c5e5cb398ede93f001 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 29 Jul 2024 10:24:05 -0700
Subject: [PATCH 228/247] [bot] Update Python packages and pre-commit hooks
 (#33122)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 .pre-commit-config.yaml |  4 ++--
 uv.lock                 | 50 +++++++++++++++++++++++++++++++----------
 2 files changed, 40 insertions(+), 14 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 10939f42892ccf..a7a53790886ca2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.4
+    rev: v0.5.5
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -93,7 +93,7 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.0
+    rev: 0.29.1
     hooks:
     -   id: check-github-workflows
 -   repo: local
diff --git a/uv.lock b/uv.lock
index a08ad9c4be2a26..089c16464aacdb 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1010,11 +1010,11 @@ wheels = [
 
 [[distribution]]
 name = "markdown"
-version = "3.3.7"
+version = "3.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d6/58/79df20de6e67a83f0d0bbfe6c19bb82adf68cdf362885257eb01099f930a/Markdown-3.3.7.tar.gz", hash = "sha256:cbb516f16218e643d8e0a95b309f77eb118cb138d39a4f27851e6a63581db874", size = 324130 }
+sdist = { url = "https://files.pythonhosted.org/packages/22/02/4785861427848cc11e452cc62bb541006a1087cf04a1de83aedd5530b948/Markdown-3.6.tar.gz", hash = "sha256:ed4f41f6daecbeeb96e576ce414c41d2d876daa9a16cb35fa8ed8c2ddfad0224", size = 354715 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
+    { url = "https://files.pythonhosted.org/packages/fc/b3/0c0c994fe49cd661084f8d5dc06562af53818cc0abefaca35bdc894577c3/Markdown-3.6-py3-none-any.whl", hash = "sha256:48f276f4d8cfb8ce6527c8f79e2ee29708508bf4d40aa410fbc3b4ee832c850f", size = 105381 },
 ]
 
 [[distribution]]
@@ -1116,7 +1116,7 @@ dependencies = [
 
 [[distribution]]
 name = "mkdocs"
-version = "1.4.3"
+version = "1.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -1124,15 +1124,32 @@ dependencies = [
     { name = "ghp-import" },
     { name = "jinja2" },
     { name = "markdown" },
+    { name = "markupsafe" },
     { name = "mergedeep" },
+    { name = "mkdocs-get-deps" },
     { name = "packaging" },
+    { name = "pathspec" },
     { name = "pyyaml" },
     { name = "pyyaml-env-tag" },
     { name = "watchdog" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b0/ef/49b4427e5eec761b77a3c3c421d3fd63010e2798b7401dc0fa2b875ef6b5/mkdocs-1.4.3.tar.gz", hash = "sha256:5955093bbd4dd2e9403c5afaf57324ad8b04f16886512a3ee6ef828956481c57", size = 3624951 }
+sdist = { url = "https://files.pythonhosted.org/packages/cc/6b/26b33cc8ad54e8bc0345cddc061c2c5c23e364de0ecd97969df23f95a673/mkdocs-1.6.0.tar.gz", hash = "sha256:a73f735824ef83a4f3bcb7a231dcab23f5a838f88b7efc54a0eef5fbdbc3c512", size = 3888392 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b8/c0/930dcf5a3e96b9c8e7ad15502603fc61d495479699e2d2c381e3d37294d1/mkdocs-1.6.0-py3-none-any.whl", hash = "sha256:1eb5cb7676b7d89323e62b56235010216319217d4af5ddc543a91beb8d125ea7", size = 3862264 },
+]
+
+[[distribution]]
+name = "mkdocs-get-deps"
+version = "0.2.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "mergedeep" },
+    { name = "platformdirs" },
+    { name = "pyyaml" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/98/f5/ed29cd50067784976f25ed0ed6fcd3c2ce9eb90650aa3b2796ddf7b6870b/mkdocs_get_deps-0.2.0.tar.gz", hash = "sha256:162b3d129c7fad9b19abfdcb9c1458a651628e4b1dea628ac68790fb3061c60c", size = 10239 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
+    { url = "https://files.pythonhosted.org/packages/9f/d4/029f984e8d3f3b6b726bd33cafc473b75e9e44c0f7e80a5b29abc466bdea/mkdocs_get_deps-0.2.0-py3-none-any.whl", hash = "sha256:2bf11d0b133e77a0dd036abeeb06dec8775e46efa526dc70667d8863eefc6134", size = 9521 },
 ]
 
 [[distribution]]
@@ -1525,9 +1542,9 @@ version = "2.2.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12'" },
-    { name = "python-dateutil" },
-    { name = "pytz" },
-    { name = "tzdata" },
+    { name = "python-dateutil", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pytz", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "tzdata", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/88/d9/ecf715f34c73ccb1d8ceb82fc01cd1028a65a5f6dbc57bfa6ea155119058/pandas-2.2.2.tar.gz", hash = "sha256:9e79019aba43cb4fda9e4d983f8e88ca0373adbb697ae9c6c43093218de28b54", size = 4398391 }
 wheels = [
@@ -1556,6 +1573,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/31/13/fe468c8c7400a8eca204e6e160a29bf7dcd45a76e20f1c030f3eaa690d93/parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9", size = 26354 },
 ]
 
+[[distribution]]
+name = "pathspec"
+version = "0.12.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ca/bc/f35b8446f4531a7cb215605d100cd88b7ac6f44ab3fc94870c120ab3adbf/pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712", size = 51043 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/cc/20/ff623b09d963f88bfde16306a54e12ee5ea43e9b597108672ff3a408aad6/pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08", size = 31191 },
+]
+
 [[distribution]]
 name = "pillow"
 version = "10.4.0"
@@ -1629,7 +1655,7 @@ wheels = [
 
 [[distribution]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cfgv" },
@@ -1638,9 +1664,9 @@ dependencies = [
     { name = "pyyaml" },
     { name = "virtualenv" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/aa/46/cc214ef6514270328910083d0119d0a80a6d2c4ec8c6608c0219db0b74cf/pre_commit-3.7.1.tar.gz", hash = "sha256:8ca3ad567bc78a4972a3f1a477e94a79d4597e8140a6e0b651c5e33899c3654a", size = 177317 }
+sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b9/0f/d6d0b4e2f5b2933a557087fc0560371aa545a18232d4d3427eb3bb3af12e/pre_commit-3.7.1-py2.py3-none-any.whl", hash = "sha256:fae36fd1d7ad7d6a5a1c0b0d5adb2ed1a3bda5a21bf6c3e5372073d7a11cd4c5", size = 204268 },
+    { url = "https://files.pythonhosted.org/packages/07/92/caae8c86e94681b42c246f0bca35c059a2f0529e5b92619f6aba4cf7e7b6/pre_commit-3.8.0-py2.py3-none-any.whl", hash = "sha256:9a90a53bf82fdd8778d58085faf8d83df56e40dfe18f45b19446e26bf1b3a63f", size = 204643 },
 ]
 
 [[distribution]]

From 01c07569741a84fae9a7fe9c8ef1830d59822f63 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 11:52:33 -0700
Subject: [PATCH 229/247] Remove control usage (#33103)

* manual matrix exp

* remove control
---
 pyproject.toml                                    |  1 -
 .../controls/lib/tests/test_vehicle_model.py      | 11 +++++++----
 uv.lock                                           | 15 ---------------
 3 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 86eb08fa1c12be..4c1e1344310a4a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -94,7 +94,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "control",
   "dictdiffer",
   "flaky",
   "inputs",
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index 4d0e41805d0933..f666f875a69d95 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -2,7 +2,6 @@
 import math
 
 import numpy as np
-from control import StateSpace
 
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.car.honda.values import CAR
@@ -47,8 +46,12 @@ def test_syn_ss_sol_simulate(self):
         A, B = create_dyn_state_matrices(u, self.VM)
 
         # Convert to discrete time system
-        ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2)))
-        ss = ss.sample(0.01)
+        dt = 0.01
+        top = np.hstack((A, B))
+        full = np.vstack((top, np.zeros_like(top))) * dt
+        Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)])
+        Ad = Md[:A.shape[0], :A.shape[1]]
+        Bd = Md[:A.shape[0], A.shape[1]:]
 
         for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
           inp = np.array([[sa], [roll]])
@@ -56,7 +59,7 @@ def test_syn_ss_sol_simulate(self):
           # Simulate for 1 second
           x1 = np.zeros((2, 1))
           for _ in range(100):
-            x1 = ss.A @ x1 + ss.B @ inp
+            x1 = Ad @ x1 + Bd @ inp
 
           # Compute steady state solution directly
           x2 = dyn_ss_sol(sa, u, roll, self.VM)
diff --git a/uv.lock b/uv.lock
index 089c16464aacdb..2913075f5b25c2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -369,20 +369,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/78/38/a046bb0ebce6f530175d434e7364149e338ffe1069ee286ed8ba7f6481ee/contourpy-1.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:1a07fc092a4088ee952ddae19a2b2a85757b923217b7eed584fdf25f53a6e7ce", size = 189901 },
 ]
 
-[[distribution]]
-name = "control"
-version = "0.10.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "scipy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ee/64/02fedcf78b070571f5e446efb55b7ec82b68187323402b99b6f98f769530/control-0.10.0.tar.gz", hash = "sha256:2c18b767537f45c7fd07b2e4afe8fbe5964019499b5f52f888edb5d8560bab53", size = 8956376 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4d/de/327ab576657cb6bd5678e5d4fa266f3c4c7094e99df2bb7760e89176772d/control-0.10.0-py3-none-any.whl", hash = "sha256:ed1e0eb73f1e2945fc9af9d7b9121ef328fe980e7903b2a14b149d4f1855a808", size = 513858 },
-]
-
 [[distribution]]
 name = "coverage"
 version = "7.6.0"
@@ -1439,7 +1425,6 @@ dev = [
     { name = "av" },
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
-    { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
     { name = "hexdump" },

From 606890cba5ca8c65391abebba505fc211ca1e6b4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jul 2024 12:32:51 -0700
Subject: [PATCH 230/247] [bot] Fingerprints: add missing FW versions from new
 users (#33123)

Export fingerprints
---
 selfdrive/car/hyundai/fingerprints.py | 3 ++-
 selfdrive/car/toyota/fingerprints.py  | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 5f959bd68d1c65..6c7480a15d0b13 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -712,6 +712,7 @@
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
@@ -764,8 +765,8 @@
       b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
       b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
+      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 37c69b54fbecb6..a7ea14f203a37b 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -650,6 +650,7 @@
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
+      b'881510E02100\x00\x00\x00\x00',
       b'881510E02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [

From 2728c95b0d8f95faca4c1ee11a77a050f0d1c5fb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 30 Jul 2024 04:43:31 +0800
Subject: [PATCH 231/247] uploader.py: ensure proper resource management with
 io.BytesIO (#33108)

* ensure proper resource management with io.BytesIO

* improve
---
 system/loggerd/uploader.py | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index d984936e88df67..965d74bef8653d 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -9,7 +9,6 @@
 import traceback
 import datetime
 import zstandard as zstd
-from typing import BinaryIO
 from collections.abc import Iterator
 
 from cereal import log
@@ -152,14 +151,12 @@ def do_upload(self, key: str, fn: str):
       return FakeResponse()
 
     with open(fn, "rb") as f:
-      data: BinaryIO
+      content = f.read()
       if key.endswith('.zst') and not fn.endswith('.zst'):
-        compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL)
-        data = io.BytesIO(compressed)
-      else:
-        data = f
+        content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
-      return requests.put(url, data=data, headers=headers, timeout=10)
+      with io.BytesIO(content) as data:
+        return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:

From 7d6ff19dead7a9bee819a143eb4c8a929a9e28fd Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Mon, 29 Jul 2024 23:46:13 +0300
Subject: [PATCH 232/247] update mac_setup.sh brew install (#33131)

---
 tools/mac_setup.sh | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 282121ef1d4ca6..3465747a50c230 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -22,16 +22,16 @@ fi
 # Install brew if required
 if [[ $(command -v brew) == "" ]]; then
   echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
   echo "[ ] installed brew t=$SECONDS"
 
   # make brew available now
   if [[ $ARCH == "x86_64" ]]; then
-      echo 'eval "$(/usr/local/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/usr/local/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/usr/local/bin/brew shellenv)"
   else
-      echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/opt/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/opt/homebrew/bin/brew shellenv)"
   fi
 fi
 

From ade13722cd10261696c7b49e7a6e4f6d65f1b74e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 30 Jul 2024 04:48:06 +0800
Subject: [PATCH 233/247] replay: add support for decompressing ZST log files
 (#32910)

* Add Support for Decompressing ZST Log Files

* 2 space and check magic number

* match BZ2

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/cabana/SConscript              |  2 +-
 tools/install_ubuntu_dependencies.sh |  1 +
 tools/replay/SConscript              |  2 +-
 tools/replay/logreader.cc            | 10 ++++++--
 tools/replay/route.cc                |  4 +--
 tools/replay/util.cc                 | 37 +++++++++++++++++++++++++++-
 tools/replay/util.h                  |  2 ++
 7 files changed, 51 insertions(+), 7 deletions(-)

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index ba4a1424510c27..04b768dc695a12 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -15,7 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 4373760ce6af4b..67b28fa2806234 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -46,6 +46,7 @@ function install_ubuntu_common_requirements() {
     libssl-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libzstd-dev \
     libsqlite3-dev \
     libsystemd-dev \
     locales \
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index cf9d74a894018b..1f966d437263a3 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -12,7 +12,7 @@ else:
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 9b726e067d8515..415b8c0b5e28aa 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -4,11 +4,17 @@
 #include <utility>
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
+#include "common/util.h"
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (!data.empty() && url.find(".bz2") != std::string::npos)
-    data = decompressBZ2(data, abort);
+  if (!data.empty()) {
+    if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
+      data = decompressBZ2(data, abort);
+    } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
+      data = decompressZST(data, abort);
+    }
+  }
 
   bool success = !data.empty() && load(data.data(), data.size(), abort);
   if (filters_.empty())
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 716b02961e2c40..c1e65526cf7b5e 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -122,9 +122,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2" || name == "rlog") {
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2" || name == "qlog") {
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index aaf73749d51d0f..81e87b7dd393b8 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -15,6 +15,7 @@
 #include <mutex>
 #include <numeric>
 #include <utility>
+#include <zstd.h>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -300,7 +301,7 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
     if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
       // content is corrupt
       bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error : content is corrupt");
+      rWarning("decompressBZ2 error: content is corrupt");
       break;
     }
 
@@ -318,6 +319,40 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort) {
+  return decompressZST((std::byte *)in.data(), in.size(), abort);
+}
+
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
+  ZSTD_DCtx *dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = {in, in_size, 0};
+  std::string decompressedData;
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size && !(abort && *abort)) {
+    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
+
+    size_t result = ZSTD_decompressStream(dctx, &output, &input);
+    if (ZSTD_isError(result)) {
+      rWarning("decompressZST error: content is corrupt");
+      break;
+    }
+
+    decompressedData.append(outputBuffer.data(), output.pos);
+  }
+
+  ZSTD_freeDCtx(dctx);
+  if (!(abort && *abort)) {
+    decompressedData.shrink_to_fit();
+    return decompressedData;
+  }
+  return {};
+}
+
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   struct timespec req, rem;
   req.tv_sec = nanoseconds / 1000000000;
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 97516e18147600..c3b016c3918b13 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -40,6 +40,8 @@ std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
 size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
 std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);

From 43dcddc68b5ac132f3d2a1b0adeea9af60ee541e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 29 Jul 2024 14:44:03 -0700
Subject: [PATCH 234/247] qlog: remove mag and less CAN

---
 cereal/services.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/services.py b/cereal/services.py
index 7d73374df1e4b9..f7aaa377a97415 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -16,13 +16,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),

From 6e185f4eea470fe56fc6a33de9e81779f70941ab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 17:12:05 -0700
Subject: [PATCH 235/247] process_replay: regenerate locationd logs (#33134)

* Filter out non-relevant services in most_messages_valid check

* Set as comprehension

* Update segments

* Update ref commit

* New check for hyundai2
---
 .../test/process_replay/process_replay.py     |  4 ++
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     | 37 ++++++++++---------
 3 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index eae6abfaadda8d..70ed745bacc375 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -819,11 +819,15 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool:
 
 
 def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool:
+  relevant_services = {sock for cfg in CONFIGS for sock in cfg.subs}
   msgs_counts = Counter(msg.which() for msg in msgs)
   msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid)
 
   most_valid_for_service = {}
   for msg_type in msgs_counts.keys():
+    if msg_type not in relevant_services:
+      continue
+
     valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type]
     ok = valid_share >= threshold
     if not ok:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 02e4b997aa2a6b..1349e2650f03e8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3942de8e75caa7a99828e65c3396abd94d6b3da7
+949909bd80599698c1307b3304010456dded6a15
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 3bd58dfacb9d9d..7fbe933434a067 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@
 ]
 
 segments = [
-  ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"),
-  ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"),
-  ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"),
-  ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"),
-  ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"),
-  ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"),
-  ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"),
-  ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"),
-  ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"),
-  ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"),
-  ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"),
-  ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"),
-  ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"),
-  ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"),
-  ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"),
-  ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"),
-  ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"),
+  ("BODY", "regen34ECCE11CA1|2024-07-29--22-55-10--0"),
+  ("HYUNDAI", "regenC713CE6FA82|2024-07-29--22-56-31--0"),
+  ("HYUNDAI2", "regenD81F3A374A7|2024-07-29--22-58-45--0"),
+  ("TOYOTA", "regenE6D76723DC2|2024-07-29--23-00-08--0"),
+  ("TOYOTA2", "regen198859A572C|2024-07-29--23-01-31--0"),
+  ("TOYOTA3", "regenDF1EB621A66|2024-07-29--23-03-49--0"),
+  ("HONDA", "regen0FE7C4758B5|2024-07-29--23-05-14--0"),
+  ("HONDA2", "regen510A1F60E60|2024-07-29--23-06-39--0"),
+  ("CHRYSLER", "regenDACF082E83B|2024-07-29--23-08-01--0"),
+  ("RAM", "regen8BFB7E62F52|2024-07-29--23-10-14--0"),
+  ("SUBARU", "regen4EE2D45369E|2024-07-29--23-12-31--0"),
+  ("GM", "regenB38D92E6A4D|2024-07-29--23-13-54--0"),
+  ("GM2", "regenC5488470F1A|2024-07-29--23-16-09--0"),
+  ("NISSAN", "regenE5400EB4689|2024-07-29--23-17-30--0"),
+  ("VOLKSWAGEN", "regenD0B5635A8B9|2024-07-29--23-18-54--0"),
+  ("MAZDA", "regen57F8511F082|2024-07-29--23-21-09--0"),
+  ("FORD", "regen5708620AA2E|2024-07-29--23-23-20--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -111,7 +111,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   if not check_most_messages_valid(log_msgs):
     return f"Route did not have enough valid messages: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0':
+  # skip this check if the segment is using qcom gps
+  if cfg.proc_name != 'ubloxd' or any(m.which() in cfg.pubs for m in lr):
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs:

From 84cff4fc03423acde611ba29b3b2ff9436ff2580 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 19:51:21 -0700
Subject: [PATCH 236/247] paramsd: use livePose (#33099)

* Use livePose instead  of llk

* Update process replay sockets

* Fix import

* Fix calib

* Fix field name

* Dont store device_from_calib

* Update ref commit
---
 selfdrive/locationd/helpers.py                |  8 +++++
 selfdrive/locationd/paramsd.py                | 30 ++++++++++++++-----
 .../test/process_replay/process_replay.py     |  4 +--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 4 files changed, 33 insertions(+), 11 deletions(-)

diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 8f7211aebfe3c7..af8a3d37268992 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -4,6 +4,14 @@
 from cereal import log
 
 
+def rotate_cov(rot_matrix, cov_in):
+  return rot_matrix @ cov_in @ rot_matrix.T
+
+
+def rotate_std(rot_matrix, std_in):
+  return np.sqrt(np.diag(rotate_cov(rot_matrix, np.diag(std_in**2))))
+
+
 class NPQueue:
   def __init__(self, maxlen: int, rowsize: int) -> None:
     self.maxlen = maxlen
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 650ee06017e937..1d5749cf34078e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -9,8 +9,10 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
+from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.common.swaglog import cloudlog
 
 
@@ -38,6 +40,9 @@ def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=No
     self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
 
     self.active = False
+    self.calibrated = False
+
+    self.calib_from_device = np.eye(3)
 
     self.speed = 0.0
     self.yaw_rate = 0.0
@@ -47,12 +52,16 @@ def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=No
     self.roll_valid = False
 
   def handle_log(self, t, which, msg):
-    if which == 'liveLocationKalman':
-      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
-      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+    if which == 'livePose':
+      angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+      angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd])
+      angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+      angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std)
+
+      self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2]
 
-      localizer_roll = msg.orientationNED.value[0]
-      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
+      localizer_roll = msg.orientationNED.x
+      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd
       self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if self.roll_valid:
         roll = localizer_roll
@@ -64,7 +73,7 @@ def handle_log(self, t, which, msg):
         roll_std = np.radians(10.0)
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
-      yaw_rate_valid = msg.angularVelocityCalibrated.valid
+      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
@@ -91,6 +100,11 @@ def handle_log(self, t, which, msg):
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
+    elif which == 'liveCalibration':
+      self.calibrated  = msg.calStatus == log.LiveCalibrationData.Status.calibrated
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
+
     elif which == 'carState':
       self.steering_angle = msg.steeringAngleDeg
       self.speed = msg.vEgo
@@ -123,7 +137,7 @@ def main():
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
   pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
   params_reader = Params()
   # wait for stats about the car to come in from controls
@@ -188,7 +202,7 @@ def main():
           t = sm.logMonoTime[which] * 1e-9
           learner.handle_log(t, which, sm[which])
 
-    if sm.updated['liveLocationKalman']:
+    if sm.updated['livePose']:
       x = learner.kf.x
       P = np.sqrt(learner.kf.P.diagonal())
       if not all(map(math.isfinite, x)):
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 70ed745bacc375..84669a8bff7f11 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -539,11 +539,11 @@ def locationd_config_pubsub_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pubs=["liveLocationKalman", "carState"],
+    pubs=["livePose", "liveCalibration", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
+    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1349e2650f03e8..4da168c2703fb6 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-949909bd80599698c1307b3304010456dded6a15
\ No newline at end of file
+3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d
\ No newline at end of file

From 11cb2d3a0b3f820bb32c3de6f7ec1d2a52687f8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jul 2024 20:13:43 -0700
Subject: [PATCH 237/247] qlog_size.py: use zstd (#33137)

qlog_size: use zstd
---
 selfdrive/debug/internal/qlog_size.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 7dc61ed9df802f..11606c758919f2 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
 import argparse
-import bz2
+import zstandard as zstd
 from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
@@ -17,14 +18,14 @@ def make_pie(msgs, typ):
   for m in msgs:
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
-  total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs])))
+  total = len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs]), LOG_COMPRESSION_LEVEL))
   uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
 
   length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
   # calculate compressed size by calculating diff when removed from the segment
   compressed_length_by_type = {}
   for k in tqdm(msgs_by_type.keys(), desc="Compressing"):
-    compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k])))
+    compressed_length_by_type[k] = total - len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]), LOG_COMPRESSION_LEVEL))
 
   sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])
 

From 86d8d1d99617a0808e0a17031965a056cdc5a1b8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 20:20:31 -0700
Subject: [PATCH 238/247] torqued: use livePose (#33136)

* Use livePose

* Replace it in process replay

* Add liveCalibration to messages

* Update ref commit
---
 selfdrive/locationd/torqued.py                | 19 ++++++++++++++-----
 .../test/process_replay/process_replay.py     |  4 ++--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 3 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index e0784eb8e6cbf4..edcf42ebcda9a8 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -8,6 +8,7 @@
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
@@ -77,6 +78,8 @@ def __init__(self, CP, decimated=False, track_all_points=False):
       self.offline_friction = CP.lateralTuning.torque.friction
       self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
 
+    self.calib_from_device = np.eye(3)
+
     self.reset()
 
     initial_params = {
@@ -171,12 +174,18 @@ def handle_log(self, t, which, msg):
       # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
+    elif which == "liveCalibration":
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
 
     # calculate lateral accel from past steering torque
-    elif which == "liveLocationKalman":
+    elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
-        yaw_rate = msg.angularVelocityCalibrated.value[2]
-        roll = msg.orientationNED.value[0]
+        angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+        angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+
+        yaw_rate = angular_velocity_calibrated[2]
+        roll = msg.orientationNED.x
         # check lat active up to now (without lag compensation)
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
                                self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
@@ -233,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
@@ -246,7 +255,7 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
-    # 4Hz driven by liveLocationKalman
+    # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 84669a8bff7f11..1731bf2e1e28d8 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -390,7 +390,7 @@ def calibration_rcv_callback(msg, cfg, frame):
 
 def torqued_rcv_callback(msg, cfg, frame):
   # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
+  return (frame - 1) == 0 or msg.which() == 'livePose'
 
 
 def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
@@ -555,7 +555,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["liveLocationKalman", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4da168c2703fb6..3af1f282fbeaa9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d
\ No newline at end of file
+7eb60abe8030b97f79f858315d67d080704733f7
\ No newline at end of file

From dfd387520e88fa68f0485b6ce8dcf5befa82bafa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 01:46:03 -0700
Subject: [PATCH 239/247] process replay: use zst (#33138)

* test

* update refs to zst

* update
---
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/regen.py          | 4 ++--
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 tools/lib/logreader.py                          | 4 +++-
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3af1f282fbeaa9..a85e8919c4aafe 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7eb60abe8030b97f79f858315d67d080704733f7
\ No newline at end of file
+6ca7313b9c1337fad1334d9e087cb4984fdce74d
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index fe33443b49d224..e87b8347e1a213 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -74,7 +74,7 @@ def setup_data_readers(
         assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
         frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
-    lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
+    lr = LogReader(f"{route}/{sidx}/r")
     frs = {}
     if needs_road_cam:
       frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
@@ -118,7 +118,7 @@ def regen_and_save(
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
-  rpath = os.path.join(log_dir, "rlog.bz2")
+  rpath = os.path.join(log_dir, "rlog.zst")
 
   os.makedirs(log_dir)
   save_log(rpath, output_logs, compress=True)
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 7fbe933434a067..84a19aa0a9ee45 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -198,11 +198,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 0f005961417a11..50c14ce4c3521c 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -30,8 +30,10 @@
 def save_log(dest, log_msgs, compress=True):
   dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
 
-  if compress:
+  if compress and dest.endswith(".bz2"):
     dat = bz2.compress(dat)
+  elif compress and dest.endswith(".zst"):
+    dat = zstd.compress(dat, 10)
 
   with open(dest, "wb") as f:
     f.write(dat)

From 4e73b76a12f867dc7a831e811c33a8458e705f4c Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 30 Jul 2024 20:34:46 +0300
Subject: [PATCH 240/247] fix multiprocessing issue with can_replay.py on macOS
 (#33139)

fix multiprocessing issue with can_replay.py on mac
---
 tools/replay/can_replay.py | 25 ++++++++++++-------------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 3ab33a1dfdbe43..9b76edde10cbd3 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -80,6 +80,17 @@ def connect():
 
     time.sleep(1)
 
+def process(lr):
+  return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
+def load_route(route_or_segment_name):
+  print("Loading log...")
+  sr = LogReader(route_or_segment_name)
+  CP = sr.first("carParams")
+  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
+  CAN_MSGS = sr.run_across_segments(24, process)
+  print("Finished loading...")
+  return CAN_MSGS
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
@@ -87,22 +98,10 @@ def connect():
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
-  def process(lr):
-    return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
-  print("Loading log...")
   if args.route_or_segment_name is None:
     args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
 
-  sr = LogReader(args.route_or_segment_name)
-
-  CP = sr.first("carParams")
-
-  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
-
-  CAN_MSGS = sr.run_across_segments(24, process)
-
-  print("Finished loading...")
+  CAN_MSGS = load_route(args.route_or_segment_name)
 
   if ENABLE_PWR:
     print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")

From 0b29db5c3eed58eaaea746beb0079e3542075407 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jul 2024 13:03:34 -0700
Subject: [PATCH 241/247] add roadmap to readme

---
 README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8ebc733e63e728..9772ad646f3ae6 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,9 @@
 </p>
 
 <h3>
-  <a href="https://docs.comma.ai">Read the docs</a>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
   <span> · </span>
   <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
   <span> · </span>

From 9536dd07c6b0f972db70b344ae2f676e031ea038 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 13:11:05 -0700
Subject: [PATCH 242/247] unpin numpy (#33132)

* unlock numpy

* remove old cache

* sheel

* lock

* remove temp

* depends

* export

* put this back

* use __version__

* move this

---------

Co-authored-by: quebec <quebec@quebec.attlocal.net>
---
 SConstruct                                             | 5 +++--
 pyproject.toml                                         | 2 +-
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 3 ++-
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 3 ++-
 site_scons/site_tools/cython.py                        | 3 +++
 uv.lock                                                | 6 +++---
 6 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index fb5c43c9ad8f4d..47f2db9661ba8c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -229,7 +229,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -268,7 +268,8 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
diff --git a/pyproject.toml b/pyproject.toml
index 4c1e1344310a4a..1473cf57070ea4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy < 2.0.0", # control does not support numpy 2
+  "numpy",
 
   # body / webrtcd
   "aiohttp",
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 73242cb8f9cf36..2c03da06a626df 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -88,3 +88,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 592c1c2c2da8ec..fc1e844d504a69 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -94,3 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index c2914755336b40..f11db1d71bebca 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -2,14 +2,17 @@
 import SCons
 from SCons.Action import Action
 from SCons.Scanner import Scanner
+import numpy as np
 
 pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
 pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
 cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
 
+np_version = SCons.Script.Value(np.__version__)
 
 def pyx_scan(node, env, path, arg=None):
   contents = node.get_text_contents()
+  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
 
   # from <module> cimport ...
   matches = pyx_from_import_re.findall(contents)
diff --git a/uv.lock b/uv.lock
index 2913075f5b25c2..ded3ddec7c360a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4977,11 +4977,11 @@ wheels = [
 
 [[distribution]]
 name = "setuptools"
-version = "71.1.0"
+version = "72.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/c0/5b8013b5a812701c72e3b1e2b378edaa6514d06bee6704a5ab0d7fa52931/setuptools-71.1.0.tar.gz", hash = "sha256:032d42ee9fb536e33087fb66cac5f840eb9391ed05637b3f2a76a7c8fb477936", size = 2422233 }
+sdist = { url = "https://files.pythonhosted.org/packages/5e/11/487b18cc768e2ae25a919f230417983c8d5afa1b6ee0abd8b6db0b89fa1d/setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec", size = 2419487 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/a0/ee460cc54e68afcf33190d198299c9579a5eafeadef0016ae8563237ccb6/setuptools-71.1.0-py3-none-any.whl", hash = "sha256:33874fdc59b3188304b2e7c80d9029097ea31627180896fb549c578ceb8a0855", size = 2341722 },
+    { url = "https://files.pythonhosted.org/packages/e1/58/e0ef3b9974a04ce9cde2a7a33881ddcb2d68450803745804545cdd8d258f/setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1", size = 2337965 },
 ]
 
 [[distribution]]

From 086dcfe715985447fa33f120d16a496309718ba2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 13:57:42 -0700
Subject: [PATCH 243/247] docs: fix README.md (#33142)

* md

* Update README.md

* rename

* exclude

* Update README.md
---
 docs/{README => README.md} | 20 ++++++++++++--------
 mkdocs.yml                 |  2 ++
 2 files changed, 14 insertions(+), 8 deletions(-)
 rename docs/{README => README.md} (59%)

diff --git a/docs/README b/docs/README.md
similarity index 59%
rename from docs/README
rename to docs/README.md
index a16c7725305852..08dd4fa8bcca9b 100644
--- a/docs/README
+++ b/docs/README.md
@@ -3,18 +3,22 @@
 This is the source for [docs.comma.ai](https://docs.comma.ai).
 The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
 
-## development
-```
-# install the docs dependencies
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
 pip install .[docs]
+```
 
-cd docs/
+**2. Build the new site**
+``` bash
+mkdocs build
+```
 
-# for a development server
+**3. Run the new site locally**
+``` bash
 mkdocs serve
-
-# build the site
-mkdocs build
 ```
 
 References:
diff --git a/mkdocs.yml b/mkdocs.yml
index 8778e28863b4ba..743b8fa1b789c6 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -2,6 +2,8 @@ site_name: openpilot docs
 repo_url: https://github.com/commaai/openpilot/
 site_url: https://docs.comma.ai
 
+exclude_docs: README.md
+
 strict: true
 docs_dir: docs
 site_dir: docs_site/

From 0fe143e4a75e7657f4d815a5616fc29f70de5ad5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 14:07:47 -0700
Subject: [PATCH 244/247] test_onroad: lower lower log size bound

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index e29e241da9f0e1..27feb344f26f88 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -207,7 +207,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.45 < sz < 0.55
+        assert 0.4 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 0739d79a512965abbe22f0b15c7fddcdd71478d0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 14:27:27 -0700
Subject: [PATCH 245/247] cars: remove some external imports (#33133)

* ford and gm

* clean that up

* also this

* honda

* temp fix

* move into selfdrive.car

* clean up

* more
---
 .importlinter                           |  3 ---
 selfdrive/car/__init__.py               | 21 +++++++++++++++++++++
 selfdrive/car/ford/carcontroller.py     |  2 +-
 selfdrive/car/gm/interface.py           |  3 +--
 selfdrive/car/honda/carcontroller.py    |  3 +--
 selfdrive/car/interfaces.py             |  4 ++--
 selfdrive/controls/lib/drive_helpers.py | 23 +----------------------
 7 files changed, 27 insertions(+), 32 deletions(-)

diff --git a/.importlinter b/.importlinter
index 594d75ee4aa417..f77ea24b39751e 100644
--- a/.importlinter
+++ b/.importlinter
@@ -33,9 +33,6 @@ ignore_imports =
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
     openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
     openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6f3bde7f0c26c3..b685c6a4354b5d 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -166,6 +166,27 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 7be3b2ebe9d0d1..36589f34e56c92 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -5,10 +5,10 @@
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index d088050482a351..1d4a6066ccc3f9 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -6,11 +6,10 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66bd50048581c5..dc42c41e63d09f 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -3,11 +3,10 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, rate_limit
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9f1b650158e1b7..d37e171da7a8d9 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,9 +13,9 @@
 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.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index bd74051374a384..4c111a4fd1b45a 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -2,7 +2,7 @@
 
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -141,16 +141,6 @@ def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
 
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
@@ -161,17 +151,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
   return safe_desired_curvature
 
 
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):

From 76fd5b00f1f169013334e06031e6b063c16cf5a5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jul 2024 14:29:48 -0700
Subject: [PATCH 246/247] CI: increase shm size to 2G

---
 .github/workflows/badges.yaml          | 2 +-
 .github/workflows/selfdrive_tests.yaml | 2 +-
 .github/workflows/tools_tests.yaml     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index cf8bdc71097165..f8d2fc3cf10bd4 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a1786343215fee..bfad6e1e7dda22 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -25,7 +25,7 @@ env:
   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 $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
+  RUN: docker run --shm-size 2G -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
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9085556392efc6..271e4bda17f162 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -21,7 +21,7 @@ env:
 
   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
+  RUN: docker run --shm-size 2G -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
 
 
 jobs:

From 661ef03a24171addba79b69bb14867425f5a9474 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 15:18:26 -0700
Subject: [PATCH 247/247] Ford: add long controls todo

---
 selfdrive/car/ford/carcontroller.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 36589f34e56c92..09bba465658beb 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -92,6 +92,7 @@ def update(self, CC, CS, now_nanos):
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      # TODO: look into using the actuators packet to send the desired speed
       can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###