Sync: commaai/openpilot:master into sunnypilot/openpilot:master-new (#474)

2026-02-18 20:03:53 +08:00 · 2024-12-08 20:12:29 -05:00
parent b42c997f83 4cccd07fd6
commit 0f74e0f760
45 changed files with 441 additions and 611 deletions
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,18 +0,0 @@
-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 python3 -m ensurepip --upgrade
-RUN pip3 install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma
--- a/.devcontainer/container_post_start.sh
+++ b/.devcontainer/container_post_start.sh
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}
--- a/.devcontainer/host_setup
+++ b/.devcontainer/host_setup
@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi
--- a/.devcontainer/host_setup.cmd
+++ b/.devcontainer/host_setup.cmd
@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -35,9 +35,9 @@ jobs:
  build_release:
    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@@ -78,15 +78,9 @@ jobs:
        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"

  build:
-    strategy:
-      matrix:
-        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') ||
-                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
-                   'ubuntu-latest'}}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -95,7 +89,6 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
    - uses: ./.github/workflows/compile-openpilot
@@ -131,28 +124,11 @@ jobs:
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(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') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    env:
      PYTHONWARNINGS: default
    steps:
@@ -166,9 +142,9 @@ jobs:

  unit_tests:
    name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -193,9 +169,9 @@ jobs:

  process_replay:
    name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -246,9 +222,9 @@ jobs:

  test_cars:
    name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    strategy:
      fail-fast: false
      matrix:
@@ -338,9 +314,9 @@ jobs:

  simulator_driving:
    name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -360,9 +336,9 @@ 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: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
      - uses: actions/checkout@v4
        with:
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -1,55 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  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 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 $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    if: false  # we can re-enable once this is faster
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        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
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1

 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot pocl-opencl-icd && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
    rm -rf /var/lib/apt/lists/*

 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
    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
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+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/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
+
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -488,6 +488,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  pmicTempC @39 :List(Float32);
  intakeTempC @46 :Float32;
  exhaustTempC @47 :Float32;
+  caseTempC @48 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -48,13 +48,13 @@ class Ratekeeper:
  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
-    self._next_frame_time = time.monotonic() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
    self._process_name = getproctitle()
    self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = time.monotonic()
+    self._last_monitor_time = -1.
+    self._next_frame_time = -1.

  @property
  def frame(self) -> int:
@@ -79,6 +79,10 @@ class Ratekeeper:

  # Monitors the cumulative lag, but does not enforce a rate
  def monitor_time(self) -> bool:
+    if self._last_monitor_time < 0:
+      self._next_frame_time = time.monotonic() + self._interval
+      self._last_monitor_time = time.monotonic()
+
    prev = self._last_monitor_time
    self._last_monitor_time = time.monotonic()
    self._dts.append(self._last_monitor_time - prev)
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.2"
+  export AGNOS_VERSION="11.3"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -101,7 +101,6 @@ dev = [
  "azure-identity",
  "azure-storage-blob",
  "dictdiffer",
-  "flaky",
  "lru-dict",
  "matplotlib",
  "parameterized >=0.8, <0.9",
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -32,7 +32,6 @@ blacklist = [

  ".git/",
  ".github/",
-  ".devcontainer/",
  "Darwin/",
  ".vscode",

--- a/scripts/lint/check_raylib_includes.sh
+++ b/scripts/lint/check_raylib_includes.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -53,6 +53,7 @@ function run_tests() {
  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES

  if [[ -z "$FAST" ]]; then
    run "mypy" mypy $PYTHON_FILES
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -8,6 +8,7 @@ from typing import cast

 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.selfdrive.test.process_replay.migration import migrate_all

 if __name__ == "__main__":
  cnt_events: Counter = Counter()
@@ -20,7 +21,7 @@ if __name__ == "__main__":
  start_time = math.inf
  end_time = -math.inf
  ignition_off = None
-  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
    t = (msg.logMonoTime - start_time) / 1e9
    end_time = max(end_time, msg.logMonoTime)
    start_time = min(start_time, msg.logMonoTime)
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -1,4 +1,3 @@
-import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -87,8 +86,6 @@ def run_scenarios(scenario, logs):
  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)


-@pytest.mark.xdist_group("test_locationd_scenarios")
-@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
  """
  Test locationd with different scenarios. In all these scenarios, we expect the following:
--- 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 sha256:66f3fa03aa1f61ed2ff84a954d3eca5d5fe9ef95bb484edc4044b63ff5b6e2ab
+oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
 size 50320584
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes


@retry(attempts=3)
@@ -72,7 +72,6 @@ class TestBoarddLoopback:
    os.environ['STARTED'] = '1'
    os.environ['BOARDD_LOOPBACK'] = '1'

-  @phone_only
  @with_processes(['pandad'])
  def test_loopback(self):
    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -7,7 +7,7 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,7 +23,6 @@ class TestBoarddSpi:
    if not JUNGLE_SPAM:
      os.environ['BOARDD_LOOPBACK'] = '1'

-  @phone_only
  @with_processes(['pandad'])
  def test_spi_corruption(self, subtests):
    setup_pandad(1)
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -10,7 +10,6 @@ from functools import wraps
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version


@@ -29,14 +28,6 @@ def set_params_enabled():
  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
  params.put("CalibrationParams", msg.to_bytes())

-def phone_only(f):
-  @wraps(f)
-  def wrap(self, *args, **kwargs):
-    if PC:
-      pytest.skip("This test is not meant to run on PC")
-    return f(self, *args, **kwargs)
-  return wrap
-
 def release_only(f):
  @wraps(f)
  def wrap(self, *args, **kwargs):
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6b43f700377cc3aea5ab01c642dde36947a1d382
+255ceb08c75bc85379da5ec247e612be3716fb43
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -99,9 +99,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()

 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()


 def strip_zst_extension(fn: str) -> str:
@@ -129,8 +129,9 @@ class UploadQueueCache:
  @staticmethod
  def cache(upload_queue: Queue[UploadItem]) -> None:
    try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
      Params().put("AthenadUploadQueue", json.dumps(items))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -200,7 +201,8 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
    upload_queue.put_nowait(item)
    UploadQueueCache.cache(upload_queue)

-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      cur_upload_items[tid] = None

    for _ in range(RETRY_DELAY):
      time.sleep(1)
@@ -219,7 +221,8 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
  if end_event.is_set():
    raise AbortTransferException

-  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  with cur_upload_items_lock:
+    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)


 def upload_handler(end_event: threading.Event) -> None:
@@ -227,14 +230,10 @@ def upload_handler(end_event: threading.Event) -> None:
  tid = threading.get_ident()

  while not end_event.is_set():
-    cur_upload_items[tid] = None
-
    try:
-      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
-
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
-        continue
+      with cur_upload_items_lock:
+        cur_upload_items[tid] = None
+        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)

      # Remove item if too old
      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -413,8 +412,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo

@dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with upload_queue.mutex:
+    items = list(upload_queue.queue)
+
+  with cur_upload_items_lock:
+    items += list(cur_upload_items.values())
+
+  return [asdict(item) for item in items]


@dispatcher.add_method
@@ -422,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
  if not isinstance(upload_id, list):
    upload_id = [upload_id]

-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}

-  cancelled_uploads.update(cancelled_ids)
-  return {"success": 1}
+    upload_queue.queue.clear()
+    upload_queue.queue.extend(remaining_items)
+    return {"success": 1}

@dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,7 +78,6 @@ class TestAthenadMethods:

    athenad.upload_queue = queue.Queue()
    athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()

    for i in os.listdir(Paths.log_root()):
      p = os.path.join(Paths.log_root(), i)
@@ -282,13 +281,10 @@ class TestAthenadMethods:
    athenad.upload_queue.put_nowait(item)
    dispatcher["cancelUpload"](item.id)

-    assert item.id in athenad.cancelled_uploads
-
    self._wait_for_upload()
    time.sleep(0.1)

    assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0

  @with_upload_handler
  def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
    assert items[0] == asdict(item)
    assert not items[0]['current']

-    athenad.cancelled_uploads.add(item.id)
+    dispatcher["cancelUpload"](item.id)
    items = dispatcher["listUploadQueue"]()
    assert len(items) == 0

@@ -343,7 +339,7 @@ class TestAthenadMethods:
    athenad.upload_queue.put_nowait(item2)

    # Ensure canceled items are not persisted
-    athenad.cancelled_uploads.add(item2.id)
+    dispatcher["cancelUpload"](item2.id)

    # serialize item
    athenad.UploadQueueCache.cache(athenad.upload_queue)
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,12 +1,12 @@
 import pytest
 import time
 import numpy as np
-from flaky import flaky
 from collections import defaultdict

 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes

 TEST_TIMESPAN = 10
@@ -17,44 +17,46 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,

 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')

-# TODO: this shouldn't be needed
-@flaky(max_runs=3)
+@retry(attempts=3, delay=5.0)
+def setup_camerad(cls):
+  # run camerad and record logs
+  managed_processes['camerad'].start()
+  time.sleep(3)
+  socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+  cls.logs = defaultdict(list)
+  start_time = time.monotonic()
+  while time.monotonic()- start_time < TEST_TIMESPAN:
+    for cam, s in socks.items():
+      cls.logs[cam] += messaging.drain_sock(s)
+    time.sleep(0.2)
+  managed_processes['camerad'].stop()
+
+  cls.log_by_frame_id = defaultdict(list)
+  cls.sensor_type = None
+  for cam, msgs in cls.logs.items():
+    if cls.sensor_type is None:
+      cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+
+    dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+    for m in msgs:
+      cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+
+  # strip beginning and end
+  for _ in range(3):
+    mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+    del cls.log_by_frame_id[mn]
+    del cls.log_by_frame_id[mx]
+
@pytest.mark.tici
 class TestCamerad:
  @classmethod
  def setup_class(cls):
-    # run camerad and record logs
-    managed_processes['camerad'].start()
-    time.sleep(3)
-    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
-
-    cls.logs = defaultdict(list)
-    start_time = time.monotonic()
-    while time.monotonic()- start_time < TEST_TIMESPAN:
-      for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
-      time.sleep(0.2)
-    managed_processes['camerad'].stop()
-
-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
-      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
-
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-
-      for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
-
-    # strip beginning and end
-    for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
+    setup_camerad(cls)

  def test_frame_skips(self):
    skips = {}
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -1,12 +1,14 @@
 import time
 import numpy as np
+import pytest

-from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.camerad.snapshot.snapshot import get_snapshots

 TEST_TIME = 45
 REPEAT = 5

+@pytest.mark.tici
 class TestCamerad:
  @classmethod
  def setup_class(cls):
@@ -28,7 +30,6 @@ class TestCamerad:
    print([i_median, i_mean])
    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]

-  @phone_only
  @with_processes(['camerad'])
  def test_camera_operation(self):
    passed = 0
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -1,11 +1,54 @@
+import os
 from abc import abstractmethod, ABC
-from collections import namedtuple
+from dataclasses import dataclass, fields

 from cereal import log

-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'pmic', 'intake', 'exhaust'])
 NetworkType = log.DeviceState.NetworkType

+@dataclass
+class ThermalZone:
+  # a zone from /sys/class/thermal/thermal_zone*
+  name: str             # a.k.a type
+  scale: float = 1000.  # scale to get degrees in C
+  zone_number = -1
+
+  def read(self) -> float:
+    if self.zone_number < 0:
+      for n in os.listdir("/sys/devices/virtual/thermal"):
+        if not n.startswith("thermal_zone"):
+          continue
+        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+          if f.read().strip() == self.name:
+            self.zone_number = int(n.removeprefix("thermal_zone"))
+            break
+
+    try:
+      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
+        return int(f.read()) / self.scale
+    except FileNotFoundError:
+      return 0
+
+@dataclass
+class ThermalConfig:
+  cpu: list[ThermalZone] | None = None
+  gpu: list[ThermalZone] | None = None
+  pmic: list[ThermalZone] | None = None
+  memory: ThermalZone | None = None
+  intake: ThermalZone | None = None
+  exhaust: ThermalZone | None = None
+  case: ThermalZone | None = None
+
+  def get_msg(self):
+    ret = {}
+    for f in fields(ThermalConfig):
+      v = getattr(self, f.name)
+      if v is not None:
+        if isinstance(v, list):
+          ret[f.name + "TempC"] = [x.read() for x in v]
+        else:
+          ret[f.name + "TempC"] = v.read()
+    return ret

 class HardwareBase(ABC):
  @staticmethod
@@ -84,9 +127,8 @@ class HardwareBase(ABC):
  def shutdown(self):
    pass

-  @abstractmethod
  def get_thermal_config(self):
-    pass
+    return ThermalConfig()

  @abstractmethod
  def set_screen_brightness(self, percentage):
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -51,41 +51,6 @@ OFFROAD_DANGER_TEMP = 75

 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}

-tz_by_type: dict[str, int] | None = None
-def populate_tz_by_type():
-  global tz_by_type
-  tz_by_type = {}
-  for n in os.listdir("/sys/devices/virtual/thermal"):
-    if not n.startswith("thermal_zone"):
-      continue
-    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
-
-def read_tz(x):
-  if x is None:
-    return 0
-
-  if isinstance(x, str):
-    if tz_by_type is None:
-      populate_tz_by_type()
-    x = tz_by_type[x]
-
-  try:
-    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
-      return int(f.read())
-  except FileNotFoundError:
-    return 0
-
-
-def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState', valid=True)
-  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
-  dat.deviceState.intakeTempC = read_tz(thermal_config.intake[0]) / thermal_config.intake[1]
-  dat.deviceState.exhaustTempC = read_tz(thermal_config.exhaust[0]) / thermal_config.exhaust[1]
-  return dat


 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -234,7 +199,8 @@ def hardware_thread(end_event, hw_queue) -> None:
    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
      continue

-    msg = read_thermal(thermal_config)
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
    msg.deviceState.deviceType = HARDWARE.get_device_type()

    try:
@@ -264,13 +230,13 @@ def hardware_thread(end_event, hw_queue) -> None:
    # this subset is only used for offroad
    temp_sources = [
      msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC),
-      max(msg.deviceState.gpuTempC),
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
    ]
    offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))

    # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC))
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
    all_comp_temp = all_temp_filter.update(max(temp_sources))
    msg.deviceState.maxTempC = all_comp_temp

--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random

 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase

 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -53,9 +53,6 @@ class Pc(HardwareBase):
  def shutdown(self):
    print("SHUTDOWN!")

-  def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), pmic=((None,), 1), intake=(None, 1), exhaust=(None, 1))
-
  def set_screen_brightness(self, percentage):
    pass

--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
-    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "size": 16414720,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
+    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "size": 16418816,
    "sparse": false,
    "full_check": true,
    "has_ab": true
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
-    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
-    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
+    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
    "size": 4404019200,
    "sparse": false,
    "full_check": false,
@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
-    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
-    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
+    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
    "size": 3282256,
    "sparse": false,
    "full_check": true,
@@ -41,9 +41,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
-    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
-    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
+    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
    "size": 98124,
    "sparse": false,
    "full_check": true,
@@ -51,9 +51,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
-    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
-    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
+    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
    "size": 40336,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
-    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
-    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
+    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
    "size": 184364,
    "sparse": false,
    "full_check": true,
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -10,7 +10,7 @@ from pathlib import Path

 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -323,17 +323,19 @@ class Tici(HardwareBase):
    os.system("sudo poweroff")

  def get_thermal_config(self):
-    intake, exhaust = (None, 1), (None, 1)
+    intake, exhaust, case = None, None, None
    if self.get_device_type() == "mici":
-      intake = ("intake", 1000)
-      exhaust = ("exhaust", 1000)
-    return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
-                              [f"cpu{i}-gold-usr" for i in range(4)], 1000),
-                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
-                         mem=("ddr-usr", 1000),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000),
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                         intake=intake,
-                         exhaust=exhaust)
+                         exhaust=exhaust,
+                         case=case)

  def set_screen_brightness(self, percentage):
    try:
@@ -485,14 +487,16 @@ class Tici(HardwareBase):
        'AT$QCNETDEVCTL=3,1',
      ]
    else:
-      cmds += [
-        # SIM sleep disable
-        'AT$QCSIMSLEEP=0',
-        'AT$QCSIMCFG=SimPowerSave,0',
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
+        cmds += [
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',

-        # ethernet config
-        'AT$QCPCFG=usbNet,1',
-      ]
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
+        ]

    for cmd in cmds:
      try:
@@ -591,3 +595,4 @@ if __name__ == "__main__":
  t.configure_modem()
  t.initialize_hardware()
  t.set_power_save(False)
+  print(t.get_sim_info())
--- a/system/ui/raylib/raylib.h
+++ b/system/ui/raylib/raylib.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#define OPENPILOT_RAYLIB
+
+#include "third_party/raylib/include/raylib.h"
--- a/system/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -3,7 +3,6 @@
 #include <iostream>

 #include "system/ui/raylib/util.h"
-#include "third_party/raylib/include/raylib.h"

 constexpr int kProgressBarWidth = 1000;
 constexpr int kProgressBarHeight = 20;
@@ -27,7 +26,7 @@ int main(int argc, char *argv[]) {

  while (!WindowShouldClose()) {
    BeginDrawing();
-    ClearBackground(BLACK);
+    ClearBackground(RAYLIB_BLACK);

    rotation = fmod(rotation + kRotationRate, 360.0f);
    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
@@ -37,8 +36,8 @@ int main(int argc, char *argv[]) {
    // Draw rotating spinner and static comma logo
    DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
                   {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
-                   spinnerOrigin, rotation, WHITE);
-    DrawTextureV(commaTexture, commaPosition, WHITE);
+                   spinnerOrigin, rotation, RAYLIB_WHITE);
+    DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE);

    // Check for user input
    if (std::cin.rdbuf()->in_avail() > 0) {
@@ -50,14 +49,14 @@ int main(int argc, char *argv[]) {
      float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
      if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
        Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
-        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_GRAY);

        int progress = std::clamp(std::stoi(userInput), 0, 100);
        bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE);
      } else {
        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
      }
    }

--- a/system/ui/raylib/util.h
+++ b/system/ui/raylib/util.h
@@ -2,7 +2,7 @@

 #include <string>

-#include "third_party/raylib/include/raylib.h"
+#include "system/ui/raylib/raylib.h"

 enum class FontWeight {
  Normal,
--- a/third_party/raylib/include/raylib.h
+++ b/third_party/raylib/include/raylib.h
@@ -172,33 +172,91 @@

 // Some Basic Colors
 // NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
+#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
+#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
+#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
+#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
+#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
+#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
+#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
+#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
+#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
+#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
+#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
+#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
+#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
+#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
+#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
+#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
+#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
+#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
+#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
+#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
+#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown

-#define WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
+#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
+#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
+#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
+#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+
+#ifndef OPENPILOT_RAYLIB
+  #define LIGHTGRAY  _rl_LIGHTGRAY
+  #define GRAY       _rl_GRAY
+  #define DARKGRAY   _rl_DARKGRAY
+  #define YELLOW     _rl_YELLOW
+  #define GOLD       _rl_GOLD
+  #define ORANGE     _rl_ORANGE
+  #define PINK       _rl_PINK
+  #define RED        _rl_RED
+  #define MAROON     _rl_MAROON
+  #define GREEN      _rl_GREEN
+  #define LIME       _rl_LIME
+  #define DARKGREEN  _rl_DARKGREEN
+  #define SKYBLUE    _rl_SKYBLUE
+  #define BLUE       _rl_BLUE
+  #define DARKBLUE   _rl_DARKBLUE
+  #define PURPLE     _rl_PURPLE
+  #define VIOLET     _rl_VIOLET
+  #define DARKPURPLE _rl_DARKBLUE
+  #define BEIGE      _rl_BEIGE
+  #define BROWN      _rl_BROWN
+  #define DARKBROWN  _rl_DARKBROWN
+
+  #define WHITE      _rl_WHITE
+  #define BLACK      _rl_BLACK
+  #define BLANK      _rl_BLANK
+  #define MAGENTA    _rl_MAGENTA
+  #define RAYWHITE   _rl_RAYWHITE
+#else
+  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
+  #define RAYLIB_GRAY       _rl_GRAY
+  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
+  #define RAYLIB_YELLOW     _rl_YELLOW
+  #define RAYLIB_GOLD       _rl_GOLD
+  #define RAYLIB_ORANGE     _rl_ORANGE
+  #define RAYLIB_PINK       _rl_PINK
+  #define RAYLIB_RED        _rl_RED
+  #define RAYLIB_MAROON     _rl_MAROON
+  #define RAYLIB_GREEN      _rl_GREEN
+  #define RAYLIB_LIME       _rl_LIME
+  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
+  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
+  #define RAYLIB_BLUE       _rl_BLUE
+  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
+  #define RAYLIB_PURPLE     _rl_PURPLE
+  #define RAYLIB_VIOLET     _rl_VIOLET
+  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
+  #define RAYLIB_BEIGE      _rl_BEIGE
+  #define RAYLIB_BROWN      _rl_BROWN
+  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
+
+  #define RAYLIB_WHITE      _rl_WHITE
+  #define RAYLIB_BLACK      _rl_BLACK
+  #define RAYLIB_BLANK      _rl_BLANK
+  #define RAYLIB_MAGENTA    _rl_MAGENTA
+  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
+#endif

 //----------------------------------------------------------------------------------
 // Structures Definition
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -30,7 +30,7 @@ fi

 cd raylib_repo

-COMMIT="5b56f44b1f1014300fbf03b636571f2bbdfc0d05"
+COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798"
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
--- a/tools/README.md
+++ b/tools/README.md
@@ -4,7 +4,7 @@

 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.
+Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.

 ## Native setup on Ubuntu 24.04

@@ -48,16 +48,6 @@ source .venv/bin/activate
 scons -u -j$(nproc)
 ```

-## Dev Container on any Linux or macOS
-
-openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
-
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
-
-#### X11 forwarding on macOS
-
-GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
-
 ## WSL on Windows

 [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.
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -101,7 +101,7 @@ if [ -f "/etc/os-release" ]; then
      install_ubuntu_focal_requirements
      ;;
    *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
      read -p "Would you like to attempt installation anyway? " -n 1 -r
      echo ""
      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -10,16 +10,16 @@ class CommaApi:
      self.session.headers['Authorization'] = 'JWT ' + token

  def request(self, method, endpoint, **kwargs):
-    resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs)
-    resp_json = resp.json()
-    if isinstance(resp_json, dict) and resp_json.get('error'):
-      if resp.status_code in [401, 403]:
-        raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+    with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
+      resp_json = resp.json()
+      if isinstance(resp_json, dict) and resp_json.get('error'):
+        if resp.status_code in [401, 403]:
+          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')

-      e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
-      e.status_code = resp.status_code
-      raise e
-    return resp_json
+        e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
+        e.status_code = resp.status_code
+        raise e
+      return resp_json

  def get(self, endpoint, **kwargs):
    return self.request('GET', endpoint, **kwargs)
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -82,7 +82,7 @@ class URLFile:

    self._length = self.get_length_online()
    if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w") as file_length:
+      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
        file_length.write(str(self._length))
    return self._length

@@ -105,7 +105,7 @@ class URLFile:
      #  If we don't have a file, download it
      if not os.path.exists(full_path):
        data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb") as new_cached_file:
+        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
          new_cached_file.write(data)
      else:
        with open(full_path, "rb") as cached_file:
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -327,9 +327,9 @@ function op_switch() {
  fi
  BRANCH="$1"

-  git fetch "$REMOTE" "$BRANCH":"$BRANCH"
+  git fetch "$REMOTE" "$BRANCH"
  git checkout -f --recurse-submodules "$BRANCH"
-  git reset --hard "$BRANCH"
+  git reset --hard "${REMOTE}/${BRANCH}"
  git clean -df
  git submodule update --init --recursive
  git submodule foreach git reset --hard
--- a/uv.lock
+++ b/uv.lock
@@ -80,7 +80,7 @@ wheels = [

 [[package]]
 name = "aiortc"
-version = "1.7.0"
+version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aioice" },
@@ -92,15 +92,15 @@ dependencies = [
    { name = "pylibsrtp" },
    { name = "pyopenssl" },
 ]
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 wheels = [
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