agnos 8 (#28843)

* agnos 8 * update to python 3.11.4 (#27452) * rebase * optional * lower cython * TEMP don't pull cl to use python3.11 * Revert "lower cython" This reverts commit c5132f8a2727c212bdfc01e77aa53e50a17ead9d. * fix cython * remove tensorrt * carla + opencv * macos * update timm and smp * pynvc * https * downgrade numpy * pin scipy --------- Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> Co-authored-by: Yassine <yassine.y10@gmail.com> * revert that * fix linter --------- Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> Co-authored-by: Yassine <yassine.y10@gmail.com> old-commit-hash: 1945c356c2
2026-02-18 20:03:53 +08:00 · 2023-07-20 21:56:57 -07:00
parent 9865a32252
commit b0c3778aae
27 changed files with 90 additions and 79 deletions
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-3.8.10
+3.11.4
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8

 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.8.10
+ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"

--- a/1
+++ b/1
@@ -263,6 +263,7 @@ py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
 if arch == "Darwin":
--- a/2
+++ b/2
--- 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="7.1"
+  export AGNOS_VERSION="8.2"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,5 +1,5 @@
 [mypy]
-python_version = 3.8
+python_version = 3.11
 plugins = numpy.typing.mypy_plugin
 files = body, common, docs, scripts, selfdrive, site_scons, system, tools
 exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
--- a/2
+++ b/2
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:06fc5a5853a507697a4be43250cdda358314e2002f2d7a79c9a1728a1cbc1a6e
-size 678096
+oid sha256:ed404767f4736f7d868e8f5790e411db0a29b6cd1117052642a7fa7079a0bfd1
+size 767135
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -10,13 +10,13 @@ documentation = "https://docs.comma.ai"


 [tool.poetry.dependencies]
-python = "~3.8"
+python = "~3.11"
 atomicwrites = "^1.4.0"
 casadi = "==3.6.3"
 cffi = "^1.15.1"
 crcmod = "^1.7"
 cryptography = "^37.0.4"
-Cython = "^0.29.30"
+Cython = "^3.0.0"
 flake8 = "^4.0.1"
 Flask = "^2.1.2"
 future-fstrings = "^1.2.0"  # for acados
@@ -27,14 +27,14 @@ Jinja2 = "^3.1.2"
 json-rpc = "^1.13.0"
 libusb1 = "^3.0.0"
 nose = "^1.3.7"
-numpy = "^1.23.0"
+numpy = "==1.23.0"  # locked pending deprecation fixes in xx
 onnx = "^1.14.0"
 onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
 pillow = "^9.2.0"
 poetry = "==1.2.2"
 protobuf = "==3.20.3"
 psutil = "^5.9.1"
-pycapnp = "==1.1.0"
+pycapnp = "^1.3.0"
 pycryptodome = "^3.15.0"
 PyJWT = "^2.5.0"
 pyopencl = "^2022.2.4"
@@ -43,7 +43,7 @@ python-dateutil = "^2.8.2"
 PyYAML = "^6.0"
 pyzmq = "^23.2.0"
 requests = "^2.28.1"
-scons = "^4.3.0"
+scons = "^4.5.2"
 sentry-sdk = "^1.6.0"
 setproctitle = "^1.2.3"
 six = "^1.16.0"
@@ -51,8 +51,8 @@ smbus2 = "^0.4.2"
 sounddevice = "^0.4.5"
 spidev = { version = "^3.6", platform = "linux" }
 spidev2 = { version = "^0.9.0", platform = "linux" }
-sympy = "^1.10.1"
-timezonefinder = "^6.0.1"
+sympy = "^1.11.1"
+timezonefinder = "^6.2.0"
 tqdm = "^4.64.0"
 urllib3 = "^1.26.10"
 utm = "^0.7.0"
@@ -62,10 +62,10 @@ sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}


 [tool.poetry.group.dev.dependencies]
-av = "^9.2.0"
+av = "^10.0.0"
 azure-storage-blob = "~2.1"
 breathe = "^4.34.0"
-carla = { version = "==0.9.13", platform = "linux", markers = "platform_machine == 'x86_64'" }
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 control = "^0.9.2"
 coverage = "^6.4.1"
 dictdiffer = "^0.9.0"
@@ -79,24 +79,23 @@ lxml = "^4.9.1"
 markdown-it-py = "^2.1.0"
 matplotlib = "^3.5.2"
 mpld3 = "^0.5.8"
-mypy = "^0.961"
+mypy = "^1.4.0"
 myst-parser = "^0.18.0"
 natsort = "^8.1.0"
-numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
 pandas = "^1.4.3"
 parameterized = "^0.8.1"
 paramiko = "^2.11.0"
 pprofile = "^2.1.0"
 pre-commit = "^2.19.0"
 pycurl = "^7.45.1"
-pygame = "^2.1.2"
+pygame = "^2.4.0"
 pylint = "^2.17.4"
 pyprof2calltree = "^1.4.5"
 pytest = "^7.1.2"
 pytest-xdist = "^2.5.0"
 reverse_geocoder = "^1.5.1"
-scipy = "^1.8.1"
+scipy = "==1.9.3"  # pinned until xx refs changes can be checked
 sphinx = "^5.0.2"
 sphinx-rtd-theme = "^1.0.0"
 sphinx-sitemap = "^2.2.0"
@@ -118,7 +117,6 @@ optional = true
 aenum = "^3.1.11"
 aiohttp = "^3.8.1"
 albumentations = "^1.2.1"
-apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
 azure-cli-core = "^2.38.0"
 azure-common = "^1.1.28"
 azure-core = "^1.24.2"
@@ -164,20 +162,21 @@ redis = "^4.3.4"
 s2sphere = "^0.2.5"
 scikit-image = "^0.19.3"
 scikit-learn = "^1.1.1"
-segmentation-models-pytorch = "==0.3.2"
+segmentation-models-pytorch = "==0.3.3"
 simplejson = "^3.17.6"
 SQLAlchemy = "^1.4.39"
-torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
+torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
 torchsummary = "^1.5.1"
-torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
+torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
 triton = "^2.0.0"
 Werkzeug = "^2.1.2"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
 omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
-tensorrt = "^8.6.0"
 transformers = "^4.29.2"
+timm = "==0.9.2"
+PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git", rev = "3347e55" }


 [build-system]
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -798,7 +798,9 @@ def main(exit_event: Optional[threading.Event] = None):
    except (ConnectionError, TimeoutError, WebSocketException):
      conn_retries += 1
      params.remove("LastAthenaPingTime")
-    except socket.timeout:
+    # TODO: socket.timeout and TimeoutError are now the same exception since python3.10
+    # Remove the socket.timeout case once we have fully moved to python3.11
+    except socket.timeout: # pylint: disable=duplicate-except
      params.remove("LastAthenaPingTime")
    except Exception:
      cloudlog.exception("athenad.main.exception")
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -169,7 +169,7 @@ def main() -> NoReturn:

      # sort pandas to have deterministic order
      pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
+      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))

      # log panda fw versions
      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -89,9 +89,9 @@ def fingerprint(logcan, sendcan, num_pandas):

    cached_params = params.get("CarParamsCache")
    if cached_params is not None:
-      cached_params = car.CarParams.from_bytes(cached_params)
-      if cached_params.carName == "mock":
-        cached_params = None
+      with car.CarParams.from_bytes(cached_params) as cached_params:
+        if cached_params.carName == "mock":
+          cached_params = None

    if cached_params is not None and len(cached_params.carFw) > 0 and \
       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -149,7 +149,7 @@ class CarParts:
    return copy.deepcopy(self)

  @classmethod
-  def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
+  def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
    p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
    return cls(p)

--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -206,8 +206,8 @@ class Controls:
    if REPLAY:
      controls_state = Params().get("ReplayControlsState")
      if controls_state is not None:
-        controls_state = log.ControlsState.from_bytes(controls_state)
-        self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+        with log.ControlsState.from_bytes(controls_state) as controls_state:
+          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise

      if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
        self.state = State.enabled
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -32,7 +32,8 @@ def plannerd_thread(sm=None, pm=None):

  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = msg
  cloudlog.info("plannerd got CarParams: %s", CP.carName)

  debug_mode = bool(int(os.getenv("DEBUG", "0")))
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -282,7 +282,8 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi

  # wait for stats about the car to come in from controls
  cloudlog.info("radard is waiting for CarParams")
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+    CP = msg
  cloudlog.info("radard got CarParams")

  # import the radar from the fingerprint
@@ -317,7 +318,7 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
    rk.monitor_time()


-def main(sm: messaging.SubMaster = None, pm: messaging.PubMaster = None, can_sock: messaging.SubSocket = None):
+def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
  radard_thread(sm, pm, can_sock)


--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -41,7 +41,8 @@ if __name__ == "__main__":
    polld = poller.poll(100)
    for sock in polld:
      msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt

      if not args.no_print:
        if args.pipe:
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -34,7 +34,8 @@ if __name__ == "__main__":
    polld = poller.poll(1000)
    for sock in polld:
      msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt

      for item in evt.can:
        if item.address == 0xe4 and item.src == 128:
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -25,7 +25,7 @@ if __name__ == "__main__":
  # Remove message generated by the process under test and merge in the new messages
  produces = {o.which() for o in outputs}
  inputs = [i for i in inputs if i.which() not in produces]
-  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)  # type: ignore
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)

  fn = f"{args.route}_{args.process}.bz2"
  save_log(fn, outputs)
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -73,11 +73,11 @@ class Calibrator:

    if param_put and calibration_params:
      try:
-        msg = log.Event.from_bytes(calibration_params)
-        rpy_init = np.array(msg.liveCalibration.rpyCalib)
-        valid_blocks = msg.liveCalibration.validBlocks
-        wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
-        height = np.array(msg.liveCalibration.height)
+        with log.Event.from_bytes(calibration_params) as msg:
+          rpy_init = np.array(msg.liveCalibration.rpyCalib)
+          valid_blocks = msg.liveCalibration.validBlocks
+          wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
+          height = np.array(msg.liveCalibration.height)
      except Exception:
        cloudlog.exception("Error reading cached CalibrationParams")

--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -116,9 +116,9 @@ class Laikad:

    nav_dict = {}
    try:
-      ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes)
-      glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
-      gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
+      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
+        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
+        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
      for e in sum([glonass_navs, gps_navs], []):
        if e.prn not in nav_dict:
          nav_dict[e.prn] = []
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -129,7 +129,8 @@ def main(sm=None, pm=None):
  params_reader = Params()
  # wait for stats about the car to come in from controls
  cloudlog.info("paramsd is waiting for CarParams")
-  CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
+    CP = msg
  cloudlog.info("paramsd got CarParams")

  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -40,7 +40,8 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t

  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
+    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
+      return log_evt

  def test_liblocalizer(self):
    msg = messaging.new_message('liveCalibration')
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -139,8 +139,10 @@ class TorqueEstimator:
    torque_cache = params.get("LiveTorqueParameters")
    if params_cache is not None and torque_cache is not None:
      try:
-        cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters
-        cache_CP = car.CarParams.from_bytes(params_cache)
+        with log.Event.from_bytes(torque_cache).liveTorqueParameters as log_evt:
+          cache_ltp = log_evt
+        with car.CarParams.from_bytes(params_cache) as msg:
+          cache_CP = msg
        if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
          if cache_ltp.liveValid:
            initial_params = {
@@ -262,7 +264,8 @@ def main(sm=None, pm=None):
    pm = messaging.PubMaster(['liveTorqueParameters'])

  params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
+    estimator = TorqueEstimator(CP)
  estimator = TorqueEstimator(CP)

  def cache_params(sig, frame):
--- a/selfdrive/test/process_replay/helpers.py
+++ b/selfdrive/test/process_replay/helpers.py
@@ -7,7 +7,7 @@ from typing import List, Optional
 from common.params import Params

 class OpenpilotPrefix(object):
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True):
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
    self.prefix = prefix if prefix else str(uuid.uuid4())
    self.msgq_path = os.path.join('/dev/shm', self.prefix)
    self.clean_dirs_on_exit = clean_dirs_on_exit
@@ -24,7 +24,7 @@ class OpenpilotPrefix(object):
      self.clean_dirs()
    del os.environ['OPENPILOT_PREFIX']
    return False
-  
+
  def clean_dirs(self):
    symlink_path = Params().get_param_path()
    if os.path.exists(symlink_path):
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c.img.xz",
-    "hash": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
-    "hash_raw": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
-    "size": 15153152,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz",
+    "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "size": 15636480,
    "sparse": false,
    "full_check": true,
    "has_ab": true
  },
  {
    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602.img.xz",
-    "hash": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
-    "hash_raw": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz",
+    "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
+    "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
    "size": 274432,
    "sparse": false,
    "full_check": true,
@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15.img.xz",
-    "hash": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
-    "hash_raw": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz",
+    "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
+    "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
    "size": 3282672,
    "sparse": false,
    "full_check": true,
@@ -31,9 +31,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40.img.xz",
-    "hash": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
-    "hash_raw": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz",
+    "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
+    "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
    "size": 98124,
    "sparse": false,
    "full_check": true,
@@ -41,9 +41,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca.img.xz",
-    "hash": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
-    "hash_raw": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz",
+    "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
+    "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
    "size": 40336,
    "sparse": false,
    "full_check": true,
@@ -51,9 +51,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e.img.xz",
-    "hash": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
-    "hash_raw": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz",
+    "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
+    "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
    "size": 184364,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028.img.xz",
-    "hash": "23c9f111f81fc3ee83f85016cb320e03a46aad6721a85e1b4a3f04b6a764e934",
-    "hash_raw": "4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz",
+    "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0",
+    "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432",
    "size": 10737418240,
    "sparse": true,
    "full_check": false,
--- a/system/sensord/rawgps/compare.py
+++ b/system/sensord/rawgps/compare.py
@@ -56,7 +56,7 @@ if __name__ == "__main__":
    pr_err /= len(car)
    speed_err /= len(car)
    print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
-    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):  # type: ignore
+    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
      svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
      print("svid: %3d  pseudorange: %10.2f m  speed: %8.2f m/s   meas: %12.2f  speed: %10.2f   meas_err: %10.3f speed_err: %8.3f cno: %d" %
        (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,
@@ -1 +1 @@
 .8.10
 .11.4