Merge branch 'upstream/openpilot/master' into sync-20251114

# Conflicts:
#	.github/workflows/ci_weekly_run.yaml
#	.github/workflows/raylib_ui_preview.yaml
#	.github/workflows/tests.yaml
#	.gitmodules
#	README.md
#	SConstruct
#	common/api.py
#	common/params_keys.h
#	docs/CARS.md
#	msgq_repo
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_car_interfaces.py
#	selfdrive/controls/controlsd.py
#	selfdrive/controls/lib/latcontrol.py
#	selfdrive/controls/lib/latcontrol_angle.py
#	selfdrive/controls/lib/latcontrol_pid.py
#	selfdrive/controls/lib/latcontrol_torque.py
#	selfdrive/controls/tests/test_latcontrol.py
#	selfdrive/monitoring/helpers.py
#	selfdrive/ui/SConscript
#	selfdrive/ui/main.cc
#	selfdrive/ui/qt/body.h
#	selfdrive/ui/qt/home.cc
#	selfdrive/ui/qt/home.h
#	selfdrive/ui/qt/network/networking.cc
#	selfdrive/ui/qt/network/networking.h
#	selfdrive/ui/qt/network/wifi_manager.cc
#	selfdrive/ui/qt/offroad/developer_panel.cc
#	selfdrive/ui/qt/offroad/developer_panel.h
#	selfdrive/ui/qt/offroad/experimental_mode.cc
#	selfdrive/ui/qt/offroad/firehose.cc
#	selfdrive/ui/qt/offroad/firehose.h
#	selfdrive/ui/qt/offroad/onboarding.cc
#	selfdrive/ui/qt/offroad/onboarding.h
#	selfdrive/ui/qt/offroad/settings.cc
#	selfdrive/ui/qt/offroad/settings.h
#	selfdrive/ui/qt/offroad/software_settings.cc
#	selfdrive/ui/qt/onroad/alerts.cc
#	selfdrive/ui/qt/onroad/annotated_camera.h
#	selfdrive/ui/qt/onroad/buttons.cc
#	selfdrive/ui/qt/onroad/buttons.h
#	selfdrive/ui/qt/onroad/driver_monitoring.cc
#	selfdrive/ui/qt/onroad/hud.cc
#	selfdrive/ui/qt/onroad/hud.h
#	selfdrive/ui/qt/onroad/model.cc
#	selfdrive/ui/qt/onroad/model.h
#	selfdrive/ui/qt/onroad/onroad_home.cc
#	selfdrive/ui/qt/onroad/onroad_home.h
#	selfdrive/ui/qt/request_repeater.h
#	selfdrive/ui/qt/sidebar.cc
#	selfdrive/ui/qt/sidebar.h
#	selfdrive/ui/qt/util.cc
#	selfdrive/ui/qt/widgets/cameraview.h
#	selfdrive/ui/qt/widgets/controls.cc
#	selfdrive/ui/qt/widgets/controls.h
#	selfdrive/ui/qt/widgets/input.cc
#	selfdrive/ui/qt/widgets/input.h
#	selfdrive/ui/qt/widgets/prime.cc
#	selfdrive/ui/qt/widgets/prime.h
#	selfdrive/ui/qt/widgets/ssh_keys.h
#	selfdrive/ui/qt/widgets/toggle.h
#	selfdrive/ui/qt/widgets/wifi.cc
#	selfdrive/ui/qt/widgets/wifi.h
#	selfdrive/ui/qt/window.cc
#	selfdrive/ui/qt/window.h
#	selfdrive/ui/tests/cycle_offroad_alerts.py
#	selfdrive/ui/tests/test_ui/run.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_nl.ts
#	selfdrive/ui/translations/main_pl.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	selfdrive/ui/ui.cc
#	selfdrive/ui/ui.h
#	system/manager/build.py
#	system/version.py

common/api/base.py

@@ -1,18 +1,22 @@
 import jwt
+import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
+       # name : jwt signature algorithm
+KEYS = {"id_rsa" : "RS256",
+        "id_ecdsa" : "ES256"}
+
 
 class BaseApi:
   def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
     self.dongle_id = dongle_id
     self.api_host = api_host
     self.user_agent = user_agent
-    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
-      self.private_key = f.read()
+    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
 
   def get(self, *args, **kwargs):
     return self.request('GET', *args, **kwargs)
@@ -23,7 +27,7 @@ class BaseApi:
   def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
-  def _get_token(self, expiry_hours=1, **extra_payload):
+  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
     now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,
@@ -32,13 +36,15 @@ class BaseApi:
       'exp': now + timedelta(hours=expiry_hours),
       **extra_payload
     }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')
     return token
 
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self._get_token(payload_extra, expiry_hours)
 
   def remove_non_ascii_chars(self, text):
     normalized_text = unicodedata.normalize('NFD', text)
@@ -54,3 +60,11 @@ class BaseApi:
     headers['User-Agent'] = self.user_agent + version
 
     return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+
+  @staticmethod
+  def get_key_pair():
+    for key in KEYS:
+      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+          return KEYS[key], private.read(), public.read()
+    return None, None, None