Merge branch 'upstream/master' into sync-20241712

# Conflicts: # .github/workflows/ci_weekly_run.yaml # opendbc_repo # panda # selfdrive/test/process_replay/ref_commit
2026-02-19 20:33:53 +08:00 · 2024-12-17 06:16:06 -05:00
parent c69cd934af e317485200
commit fffa98ee85
66 changed files with 883 additions and 477 deletions
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -15,7 +15,3 @@ jobs:
    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
-  tools_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -18,7 +18,7 @@ concurrency:
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
    steps:
    - uses: commaai/timeout@v1

--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -239,7 +239,7 @@ jobs:
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
@@ -317,6 +317,7 @@ jobs:
    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' }}
+    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
    steps:
    - uses: actions/checkout@v4
      with:
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,9 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base:latest

-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1

-ENV OPENPILOT_PATH /home/batman/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}

 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,6 +1,6 @@
 FROM ubuntu:24.04

-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1

 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
@@ -8,9 +8,9 @@ RUN apt-get update && \
    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
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8

 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN /tmp/tools/install_ubuntu_dependencies.sh && \
@@ -55,9 +55,9 @@ RUN mkdir -p /tmp/opencl-driver-intel && \
    cd / && \
    rm -rf /tmp/opencl-driver-intel

-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1

 RUN dbus-uuidgen > /etc/machine-id

--- a/9
+++ b/9
@@ -79,6 +79,10 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
        return
    }

+    if (isReplay()) {
+      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
+    }
+
    def extra = extra_env.collect { "export ${it}" }.join('\n');
    def branch = env.BRANCH_NAME ?: 'master';
    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
@@ -123,6 +127,11 @@ def hasPathChanged(String gitDiff, List<String> paths) {
  return false
 }

+def isReplay() {
+  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
+  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
+}
+
 def setupCredentials() {
  withCredentials([
    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
--- a/README.md
+++ b/README.md
@@ -38,7 +38,8 @@ Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
  </tr>
 </table>

-To start using openpilot in a car
+
+Using openpilot in a car
 ------

 To use openpilot in a car, you need four things:
@@ -49,6 +50,14 @@ To use openpilot in a car, you need four things:

 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

+### Branches
+| branch           | URL                                    | description                                                                         |
+|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release3`         | openilot.comma.ai                      | This is openpilot's release branch.                                                 |
+| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
 To start developing openpilot
 ------

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2440,6 +2440,14 @@ struct Microphone {
  filteredSoundPressureWeightedDb @2 :Float32;
 }

+struct Touch {
+  sec @0 :Int64;
+  usec @1 :Int64;
+  type @2 :UInt8;
+  code @3 :Int32;
+  value @4 :Int32;
+}
+
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@@ -2520,6 +2528,9 @@ struct Event {
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

+    # touch frame
+    touch @135 :List(Touch);
+
    # navigation
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -22,6 +22,7 @@ _services: dict[str, tuple] = {
  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
+  "touch": (True, 20., 1),
  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
  "selfdriveState": (True, 100., 10),
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,7 @@
 import numpy as np

 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye

 # segnet
 SEGNET_SIZE = (512, 384)
@@ -39,6 +39,13 @@ sbigmodel_intrinsics = np.array([
  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
  [0.0,  0.0,                                     1.0]])

+DM_INPUT_SIZE = (1440, 960)
+dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
+dmonitoringmodel_intrinsics = np.array([
+  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
+  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
+  [0.0,  0.0, 1.0]])
+
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -103,7 +103,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/docs/css/tooltip.css
+++ b/docs/css/tooltip.css
@@ -0,0 +1,44 @@
+[data-tooltip] {
+  position: relative;
+  display: inline-block;
+  border-bottom: 1px dotted black;
+}
+
+[data-tooltip] .tooltip-content {
+  width: max-content;
+  max-width: 25em;
+  position: absolute;
+  top: 100%;
+  left: 50%;
+  transform: translateX(-50%);
+  background-color: white;
+  color: #404040;
+  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
+  padding: 10px;
+  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
+  text-decoration: none;
+  opacity: 0;
+  visibility: hidden;
+  transition: opacity 0.1s, visibility 0s;
+  z-index: 1000;
+  pointer-events: none; /* Prevent accidental interaction */
+}
+
+[data-tooltip]:hover .tooltip-content {
+  opacity: 1;
+  visibility: visible;
+  pointer-events: auto; /* Allow interaction when visible */
+}
+
+.tooltip-content .tooltip-glossary-link {
+  display: inline-block;
+  margin-top: 8px;
+  font-size: 12px;
+  color: #007bff;
+  text-decoration: none;
+}
+
+.tooltip-content .tooltip-glossary-link:hover {
+  color: #0056b3;
+  text-decoration: underline;
+}
--- a/docs/glossary.toml
+++ b/docs/glossary.toml
--- a/docs/hooks/glossary.py
+++ b/docs/hooks/glossary.py
@@ -0,0 +1,68 @@
+import re
+import tomllib
+
+def load_glossary(file_path="docs/glossary.toml"):
+  with open(file_path, "rb") as f:
+    glossary_data = tomllib.load(f)
+  return glossary_data.get("glossary", {})
+
+def generate_anchor_id(name):
+  return name.replace(" ", "-").replace("_", "-").lower()
+
+def format_markdown_term(name, definition):
+  anchor_id = generate_anchor_id(name)
+  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
+  if definition.get("abbreviation"):
+    markdown += f" *({definition['abbreviation']})*"
+  if definition.get("description"):
+    markdown += f": {definition['description']}\n"
+  return markdown
+
+def glossary_markdown(vocabulary):
+  markdown = ""
+  for category, terms in vocabulary.items():
+    markdown += f"## {category.replace('_', ' ').title()}\n\n"
+    for name, definition in terms.items():
+      markdown += format_markdown_term(name, definition)
+  return markdown
+
+def format_tooltip_html(term_key, definition, html):
+  display_term = term_key.replace("_", " ").title()
+  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
+  glossary_link = (
+    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
+  )
+  return re.sub(
+    re.escape(display_term),
+    lambda
+    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def apply_tooltip(_term_key, _definition, pattern, html):
+  return re.sub(
+    pattern,
+    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def tooltip_html(vocabulary, html):
+  for _category, terms in vocabulary.items():
+    for term_key, definition in terms.items():
+      if definition.get("description"):
+        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
+        html = apply_tooltip(term_key, definition, pattern, html)
+  return html
+
+# Page Hooks
+def on_page_markdown(markdown, **kwargs):
+  glossary = load_glossary()
+  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
+
+def on_page_content(html, **kwargs):
+  if kwargs.get("page").title == "Glossary":
+    return html
+  glossary = load_glossary()
+  return tooltip_html(glossary, html)
--- 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="11.3"
+  export AGNOS_VERSION="11.4"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -8,6 +8,10 @@ strict: true
 docs_dir: docs
 site_dir: docs_site/

+hooks:
+  - docs/hooks/glossary.py
+extra_css:
+  - css/tooltip.css
 theme:
  name: readthedocs
  navigation_depth: 3
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/selfdrive/assets/img_driver_face_static.png
+++ b/selfdrive/assets/img_driver_face_static.png
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f7565541b4e6213221174839b9b2b67397ced0b9807ea56413989fd37325b3b6
-size 4908
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -148,7 +148,8 @@ class CarSpecificEvents:
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))

      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -17,7 +17,7 @@ class TestCarDocs:
    with open(CARS_MD_OUT) as f:
      current_cars_md = f.read()

-    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"

  def test_docs_diff(self):
    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -5,12 +5,15 @@ from openpilot.common.realtime import DT_CTRL
 MIN_SPEED = 1.0
 CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
+# This is a turn radius smaller than most cars can achieve
+MAX_CURVATURE = 0.2

 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0

 def clip_curvature(v_ego, prev_curvature, new_curvature):
+  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
  v_ego = max(MIN_SPEED, v_ego)
  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
  safe_desired_curvature = clip(new_curvature,
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import argparse
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+from openpilot.tools.lib.logreader import LogReader
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--width', default=2160, type=int)
+  parser.add_argument('--height', default=1080, type=int)
+  parser.add_argument('--route', default='rlog', type=str)
+  args = parser.parse_args()
+
+  w = args.width
+  h = args.height
+  route = args.route
+
+  fingers = [[-1, -1]] * 5
+  touch_points = []
+  current_slot = 0
+
+  lr = list(LogReader(route))
+  for msg in lr:
+    if msg.which() == 'touch':
+      for event in msg.touch:
+        if event.type == 3 and event.code == 47:
+          current_slot = event.value
+        elif event.type == 3 and event.code == 57 and event.value == -1:
+          fingers[current_slot] = [-1, -1]
+        elif event.type == 3 and event.code == 53:
+          fingers[current_slot][1] = h - (h - event.value)
+          if fingers[current_slot][0] != -1:
+            touch_points.append(fingers[current_slot].copy())
+        elif event.type == 3 and event.code == 54:
+          fingers[current_slot][0] = w - event.value
+          if fingers[current_slot][1] != -1:
+            touch_points.append(fingers[current_slot].copy())
+
+  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
+
+  plt.figure(figsize=(10, 3))
+  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
+  plt.colorbar()
+  plt.title(f'Touches for {route}')
+  plt.grid(True)
+  plt.show()
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -13,13 +13,13 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid

 CALIB_LEN = 3
-MODEL_WIDTH = 1440
-MODEL_HEIGHT = 960
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN

@@ -62,25 +62,21 @@ class ModelState:

  def __init__(self, cl_ctx):
    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+
+    self.frame = MonitoringModelFrame(cl_ctx)
    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
    self.inputs = {
-      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}

    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
    self.model.addInput("input_img", None)
    self.model.addInput("calib", self.inputs['calib'])

-  def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
    self.inputs['calib'][:] = calib

-    v_offset = buf.height - MODEL_HEIGHT
-    h_offset = (buf.width - MODEL_WIDTH) // 2
-    buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
-    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+    self.model.setInputBuffer("input_img", self.frame.prepare(buf, transform.flatten(), None).view(np.float32))

-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
    t1 = time.perf_counter()
    self.model.execute()
    t2 = time.perf_counter()
@@ -137,18 +133,23 @@ def main():
  pm = PubMaster(["driverStateV2"])

  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  model_transform = None

  while True:
    buf = vipc_client.recv()
    if buf is None:
      continue

+    if model_transform is None:
+      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
+      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
+
    sm.update(0)
    if sm.updated["liveCalibration"]:
      calib[:] = np.array(sm["liveCalibration"].rpyCalib)

    t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib)
+    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
    t2 = time.perf_counter()

    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,11 +3,22 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

 ConfidenceClass = log.ModelDataV2.ConfidenceClass

+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
 class PublishState:
  def __init__(self):
    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -55,14 +66,17 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
  builder.rightProb = lane_line_probs[2]

 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
-                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
+                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
+                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
+                   valid: bool) -> None:
  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
  frame_drop_perc = frame_drop * 100
  extended_msg.valid = valid
  base_msg.valid = valid

+  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
+
  driving_model_data = base_msg.drivingModelData

  driving_model_data.frameId = vipc_frame_id
@@ -71,7 +85,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.modelExecutionTime = model_execution_time

  action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -106,7 +120,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D

  # lateral planning
  action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -22,7 +22,7 @@ from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -44,27 +44,24 @@ class FrameMeta:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

 class ModelState:
-  frame: ModelFrame
-  wide_frame: ModelFrame
+  frame: DrivingModelFrame
+  wide_frame: DrivingModelFrame
  inputs: dict[str, np.ndarray]
  output: np.ndarray
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
  model: ModelRunner

  def __init__(self, context: CLContext):
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
+    self.frame = DrivingModelFrame(context)
+    self.wide_frame = DrivingModelFrame(context)
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)

    # img buffers are managed in openCL transform code
    self.inputs = {
      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
    }

@@ -100,7 +97,6 @@ class ModelState:
    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()

    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']

    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
@@ -114,13 +110,8 @@ class ModelState:
    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]

-    self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
-    self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
-
    idxs = np.arange(-4,-100,-4)[::-1]
    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
-    # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
    return outputs


@@ -231,7 +222,6 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -262,7 +252,6 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
      }

    mt1 = time.perf_counter()
@@ -274,7 +263,8 @@ def main(demo=False):
      modelv2_send = messaging.new_message('modelV2')
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)

      desire_state = modelv2_send.modelV2.meta.desireState
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,36 +1,30 @@
 #include "selfdrive/modeld/models/commonmodel.h"

-#include <cassert>
 #include <cmath>
 #include <cstring>

 #include "common/clutil.h"

-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
  input_frames = std::make_unique<uint8_t[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
  region.origin = 4 * frame_size_bytes;
  region.size = frame_size_bytes;
  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));

-  transform_init(&transform, context, device_id);
  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }

-uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);

  for (int i = 0; i < 4; i++) {
    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
  }
  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
+
  if (output == NULL) {
    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
@@ -46,13 +40,30 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
  }
 }

-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
+DrivingModelFrame::~DrivingModelFrame() {
+  deinit_transform();
  loadyuv_destroy(&loadyuv);
  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
  CL_CHECK(clReleaseCommandQueue(q));
-}
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
+  clFinish(q);
+  //return &y_cl;
+  return input_frames.get();
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+  deinit_transform();
+  CL_CHECK(clReleaseCommandQueue(q));
+}
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -2,6 +2,7 @@

 #include <cfloat>
 #include <cstdlib>
+#include <cassert>

 #include <memory>

@@ -18,9 +19,56 @@

 class ModelFrame {
 public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  ModelFrame(cl_device_id device_id, cl_context context) {
+    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  }
+  virtual ~ModelFrame() {}
+  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
+  /*
+  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  }
+  */
+
+  int MODEL_WIDTH;
+  int MODEL_HEIGHT;
+  int MODEL_FRAME_SIZE;
+  int buf_size;
+
+protected:
+  cl_mem y_cl, u_cl, v_cl;
+  Transform transform;
+  cl_command_queue q;
+  std::unique_ptr<uint8_t[]> input_frames;
+
+  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    transform_init(&transform, context, device_id);
+  }
+
+  void deinit_transform() {
+    transform_destroy(&transform);
+    CL_CHECK(clReleaseMemObject(v_cl));
+    CL_CHECK(clReleaseMemObject(u_cl));
+    CL_CHECK(clReleaseMemObject(y_cl));
+  }
+
+  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+    transform_queue(&transform, q,
+        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+        y_cl, u_cl, v_cl, model_width, model_height, projection);
+  }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  ~DrivingModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);

  const int MODEL_WIDTH = 512;
  const int MODEL_HEIGHT = 256;
@@ -29,10 +77,22 @@ public:
  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);

 private:
-  Transform transform;
  LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
  cl_buffer_region region;
-  std::unique_ptr<uint8_t[]> input_frames;
-};
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+  MonitoringModelFrame(cl_device_id device_id, cl_context context);
+  ~MonitoringModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+
+  const int MODEL_WIDTH = 1440;
+  const int MODEL_HEIGHT = 960;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+  const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+  // cl_mem input_frame_cl;
+};
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,5 +14,13 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
  cppclass ModelFrame:
    int buf_size
-    ModelFrame(cl_device_id, cl_context)
+    # unsigned char * buffer_from_cl(cl_mem*, int);
    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+
+  cppclass DrivingModelFrame:
+    int buf_size
+    DrivingModelFrame(cl_device_id, cl_context)
+
+  cppclass MonitoringModelFrame:
+    int buf_size
+    MonitoringModelFrame(cl_device_id, cl_context)
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,11 +4,12 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t

 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame


 cdef class CLContext(BaseCLContext):
@@ -23,11 +24,17 @@ cdef class CLMem:
    mem.mem = <cl_mem*> cmem
    return mem

+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
+
 cdef class ModelFrame:
  cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
+  cdef int buf_size

  def __dealloc__(self):
    del self.frame
@@ -42,4 +49,28 @@ cdef class ModelFrame:
      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
    if not data:
      return None
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
+
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
+    # return CLMem.create(data)
+
+  # def buffer_from_cl(self, CLMem in_frames):
+  #   cdef unsigned char * data2
+  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+  cdef cppDrivingModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+  cdef cppMonitoringModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
--- 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 sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
-size 50320584
+oid sha256:0c896681fd6851de3968433e12f37834429eba265e938cf383200be3e5835cec
+size 49096168
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,8 +96,6 @@ class Parser:
                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -1,39 +1,12 @@
-import onnx
-import itertools
 import os
+import onnx
 import sys
 import numpy as np
 from typing import Any

 from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES

-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()

 def create_ort_session(path, fp16_to_fp32):
  os.environ["OMP_NUM_THREADS"] = "4"
@@ -49,14 +22,14 @@ def create_ort_session(path, fp16_to_fp32):
    provider = 'OpenVINOExecutionProvider'
  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
  else:
    options.intra_op_num_threads = 2
    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
    provider = 'CPUExecutionProvider'

-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
  print("Onnx selected provider: ", [provider], file=sys.stderr)
  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
--- a/selfdrive/modeld/runners/ort_helpers.py
+++ b/selfdrive/modeld/runners/ort_helpers.py
@@ -0,0 +1,36 @@
+import onnx
+import onnxruntime as ort
+import numpy as np
+import itertools
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(model):
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+
+def make_onnx_cpu_runner(model_path):
+  options = ort.SessionOptions()
+  options.intra_op_num_threads = 4
+  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+  model_data = convert_fp16_to_fp32(onnx.load(model_path))
+  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -416,6 +416,7 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)

    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
      panda->set_ir_pwr(ir_pwr);
+      Hardware::set_ir_power(ir_pwr);
      prev_ir_pwr = ir_pwr;
    }
  }
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8ab4d7b987f55855ef64f16afbd3f67996e6935a
+8ab4d7b987f55855ef64f16afbd3f67996e6935a
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -378,6 +378,8 @@ class TestOnroad:
    ]
    for (s, instant_max, avg_max) in cfgs:
      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
+      # TODO some init can happen in first iteration
+      ts = ts[1:]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -67,14 +67,13 @@ if GetOption('extras'):
  qt_src.remove("main.cc")  # replaced by test_runner
  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)

-if GetOption('extras') and arch != "Darwin":
+if GetOption('extras'):
  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)

  # spinner and text window
  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)

-
  # setup and factory resetter
  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
@@ -83,29 +82,30 @@ if GetOption('extras') and arch != "Darwin":
  # build updater UI
  qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)

-  # build installers
-  senv = qt_env.Clone()
-  senv['LINKFLAGS'].append('-Wl,-strip-debug')
+  if arch != "Darwin":
+    # build installers
+    senv = qt_env.Clone()
+    senv['LINKFLAGS'].append('-Wl,-strip-debug')

-  release = "release3"
-  installers = [
-    ("openpilot", release),
-    ("openpilot_test", f"{release}-staging"),
-    ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "nightly-dev"),
-  ]
+    release = "release3"
+    installers = [
+      ("openpilot", release),
+      ("openpilot_test", f"{release}-staging"),
+      ("openpilot_nightly", "nightly"),
+      ("openpilot_internal", "nightly-dev"),
+    ]

-  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                      "ld -r -b binary -o $TARGET $SOURCE")
-  for name, branch in installers:
-    d = {'BRANCH': f"'\"{branch}\"'"}
-    if "internal" in name:
-      d['INTERNAL'] = "1"
+    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
+                        "ld -r -b binary -o $TARGET $SOURCE")
+    for name, branch in installers:
+      d = {'BRANCH': f"'\"{branch}\"'"}
+      if "internal" in name:
+        d['INTERNAL'] = "1"

-    obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
-    # keep installers small
-    assert f[0].get_size() < 370*1e3
+      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+      # keep installers small
+      assert f[0].get_size() < 370*1e3

 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -54,6 +54,7 @@ RETRY_DELAY = 10  # seconds
 MAX_RETRY_COUNT = 30  # Try for at most 5 minutes if upload fails immediately
 MAX_AGE = 31 * 24 * 3600  # seconds
 WS_FRAME_SIZE = 4096
+DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds

 NetworkType = log.DeviceState.NetworkType

@@ -99,9 +100,9 @@ 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:
@@ -129,9 +130,8 @@ class UploadQueueCache:
  @staticmethod
  def cache(upload_queue: Queue[UploadItem]) -> None:
    try:
-      with upload_queue.mutex:
-        items = [asdict(item) for item in upload_queue.queue]
-
+      queue: list[UploadItem | None] = list(upload_queue.queue)
+      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
      Params().put("AthenadUploadQueue", json.dumps(items))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -201,8 +201,7 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
    upload_queue.put_nowait(item)
    UploadQueueCache.cache(upload_queue)

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

    for _ in range(RETRY_DELAY):
      time.sleep(1)
@@ -213,16 +212,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
 def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
  # Abort transfer if connection changed to metered after starting upload
  # or if athenad is shutting down to re-connect the websocket
-  sm.update(0)
-  metered = sm['deviceState'].networkMetered
-  if metered and (not item.allow_cellular):
-    raise AbortTransferException
+  if not item.allow_cellular:
+    if (time.monotonic() - sm.recv_time['deviceState']) > DEVICE_STATE_UPDATE_INTERVAL:
+      sm.update(0)
+      if sm['deviceState'].networkMetered:
+        raise AbortTransferException

  if end_event.is_set():
    raise AbortTransferException

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


 def upload_handler(end_event: threading.Event) -> None:
@@ -230,10 +229,14 @@ def upload_handler(end_event: threading.Event) -> None:
  tid = threading.get_ident()

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

      # Remove item if too old
      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -412,13 +415,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo

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


@dispatcher.add_method
@@ -426,14 +424,13 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
  if not isinstance(upload_id, list):
    upload_id = [upload_id]

-  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"}
+  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"}

-    upload_queue.queue.clear()
-    upload_queue.queue.extend(remaining_items)
-    return {"success": 1}
+  cancelled_uploads.update(cancelled_ids)
+  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
@@ -78,6 +78,7 @@ 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)
@@ -281,10 +282,13 @@ 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):
@@ -327,7 +331,7 @@ class TestAthenadMethods:
    assert items[0] == asdict(item)
    assert not items[0]['current']

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

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

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

    # serialize item
    athenad.UploadQueueCache.cache(athenad.upload_queue)
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -89,12 +89,14 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
  LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);

-  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
+  if (is_raw) imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }

 CameraBuf::~CameraBuf() {
-  for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs_raw[i].free();
+  if (camera_bufs_raw != nullptr) {
+    for (int i = 0; i < frame_buf_count; i++) {
+      camera_bufs_raw[i].free();
+    }
  }
  if (imgproc) delete imgproc;
 }
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:

  float fl_pix = 0;

-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -14,7 +14,7 @@ int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr,
  return sizeof(struct cdm_dmi_cmd);
 }

-int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals) {
  struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
  cmd->cmd = CAM_CDM_CMD_REG_CONT;
  cmd->count = vals.size();
@@ -31,7 +31,7 @@ int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
  return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
 }

-int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals) {
  struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
  cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
  cmd->count = vals.size() / 2;
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -7,8 +7,8 @@
 #include <memory>

 // our helpers
-int write_random(uint8_t *dst, std::vector<uint32_t> vals);
-int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
 int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);

 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -51,12 +51,12 @@ int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
  };
  int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));

-  int32_t ioctl_result = (int32_t)arg.result;
+  int32_t ioctl_result = static_cast<int32_t>(arg.result);
  if (ret < 0) {
    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
    return ret;
  }
-  if (ioctl_result < 0) {
+  if (ioctl_result != 0) {
    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
    return ioctl_result;
  }
@@ -196,9 +196,9 @@ void SpectraMaster::init() {
  assert(isp_fd >= 0);
  LOGD("opened isp");

-  //icp_fd = open_v4l_by_name_and_index("cam-icp");
-  //assert(icp_fd >= 0);
-  //LOGD("opened icp");
+  icp_fd = open_v4l_by_name_and_index("cam-icp");
+  assert(icp_fd >= 0);
+  LOGD("opened icp");

  // query ISP for MMU handles
  LOG("-- Query for MMU handles");
@@ -215,7 +215,6 @@ void SpectraMaster::init() {
  cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;

  // query ICP for MMU handles
-  /*
  struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0};
  query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd;
  query_cap_cmd.size = sizeof(icp_query_cap_cmd);
@@ -223,7 +222,6 @@ void SpectraMaster::init() {
  assert(ret == 0);
  LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure);
  icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure;
-  */

  // subscribe
  LOG("-- Subscribing");
@@ -675,18 +673,21 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  uint64_t request_id = request_ids[i];

  if (sync_objs[i]) {
-    // wait
+    // SOF has come in, wait until readout is complete
    struct cam_sync_wait sync_wait = {0};
    sync_wait.sync_obj = sync_objs[i];
-    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
+    sync_wait.timeout_ms = 100;
    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
    if (ret != 0) {
-      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
      // TODO: handle frame drop cleanly
+      // when this happens, it messes up future frames
+      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
    }
    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
    buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    if (dp) buf.queue(i);
+    if (dp) {
+      buf.queue(i);
+    }

    // destroy old output fence
    for (auto so : {sync_objs, sync_objs_bps_out}) {
@@ -709,13 +710,13 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  }
  sync_objs[i] = sync_create.sync_obj;

-  /*
-  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
-  if (ret != 0) {
-    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+  if (icp_dev_handle > 0) {
+    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+    if (ret != 0) {
+      LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+    }
+    sync_objs_bps_out[i] = sync_create.sync_obj;
  }
-  sync_objs_bps_out[i] = sync_create.sync_obj;
-  */

  // schedule request with camera request manager
  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
@@ -743,8 +744,10 @@ void SpectraCamera::camera_map_bufs() {
    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
    mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
    mem_mgr_map_cmd.num_hdl = 1;
-    //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
-    //mem_mgr_map_cmd.num_hdl = 2;
+    if (icp_dev_handle > 0) {
+      mem_mgr_map_cmd.num_hdl = 2;
+      mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
+    }

    if (is_raw) {
      // RAW bayer images
@@ -896,8 +899,6 @@ void SpectraCamera::configISP() {
 }

 void SpectraCamera::configICP() {
-  if (!enabled) return;
-
  /*
    Configures both the ICP and BPS.
  */
@@ -1045,6 +1046,10 @@ void SpectraCamera::camera_close() {

    // release devices
    LOGD("-- Release devices");
+    if (icp_dev_handle > 0) {
+      ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
+      LOGD("release icp: %d", ret);
+    }
    ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
    LOGD("release isp: %d", ret);
    ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -22,8 +22,9 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py

 // CSLDeviceType/CSLPacketOpcodesIFE from camx
 // cam_packet_header.op_code = (device << 24) | (opcode);
-#define CSLDeviceTypeImageSensor (0x1 << 24)
-#define CSLDeviceTypeIFE         (0xF << 24)
+#define CSLDeviceTypeImageSensor (0x01 << 24)
+#define CSLDeviceTypeIFE         (0x0F << 24)
+#define CSLDeviceTypeBPS         (0x10 << 24)
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1

--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-export DISABLE_DRIVER=1
-#export LOGPRINT=debug
+export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+#export DISABLE_DRIVER=1
+export LOGPRINT=debug
 ./camerad
--- a/system/camerad/test/icp_debug.sh
+++ b/system/camerad/test/icp_debug.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+#echo Y > /sys/kernel/debug/camera_icp/a5_debug_q
+echo 0x1 > /sys/kernel/debug/camera_icp/a5_debug_type
+echo 1 > /sys/kernel/debug/tracing/events/camera/enable
+echo 0xffffffff > /sys/kernel/debug/camera_icp/a5_debug_lvl
+echo 1 > /sys/kernel/debug/tracing/events/camera/cam_icp_fw_dbg/enable
+
+cat /sys/kernel/debug/tracing/trace_pipe
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -28,6 +28,7 @@ public:
  static void reboot() {}
  static void poweroff() {}
  static void set_brightness(int percent) {}
+  static void set_ir_power(int percentage) {}
  static void set_display_power(bool on) {}

  static bool get_ssh_enabled() { return false; }
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import json
 import queue
+import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
@@ -59,6 +61,40 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
  prev_offroad_states[offroad_alert] = (show_alert, extra_text)
  set_offroad_alert(offroad_alert, show_alert, extra_text)

+def touch_thread(end_event):
+  count = 0
+
+  pm = messaging.PubMaster(["touch"])
+
+  event_format = "llHHi"
+  event_size = struct.calcsize(event_format)
+  event_frame = []
+
+  with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
+    fcntl.fcntl(event_file, fcntl.F_SETFL, os.O_NONBLOCK)
+    while not end_event.is_set():
+      if (count % int(1. / DT_HW)) == 0:
+        event = event_file.read(event_size)
+        if event:
+          (sec, usec, etype, code, value) = struct.unpack(event_format, event)
+          if etype != 0 or code != 0 or value != 0:
+            touch = log.Touch.new_message()
+            touch.sec = sec
+            touch.usec = usec
+            touch.type = etype
+            touch.code = code
+            touch.value = value
+            event_frame.append(touch)
+          else: # end of frame, push new log
+            msg = messaging.new_message('touch', len(event_frame), valid=True)
+            msg.touch = event_frame
+            pm.send('touch', msg)
+            event_frame = []
+          continue
+
+      count += 1
+      time.sleep(DT_HW)
+

 def hw_state_thread(end_event, hw_queue):
  """Handles non critical hardware state, and sends over queue"""
@@ -420,6 +456,9 @@ def main():
    threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
  ]

+  if TICI:
+    threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
+
  for t in threads:
    t.start()

--- 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-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
-    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "size": 16418816,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50.img.xz",
+    "hash": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
+    "hash_raw": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
+    "size": 16422912,
    "sparse": false,
    "full_check": true,
    "has_ab": true
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
-    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
-    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c.img.xz",
+    "hash": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
+    "hash_raw": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
    "size": 4404019200,
    "sparse": false,
    "full_check": false,
@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
-    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
-    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
+    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
    "size": 3282256,
    "sparse": false,
    "full_check": true,
@@ -41,9 +41,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
-    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
-    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
+    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
    "size": 98124,
    "sparse": false,
    "full_check": true,
@@ -51,9 +51,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
-    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
-    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
+    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
    "size": 40336,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
-    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
-    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
+    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
    "size": 184364,
    "sparse": false,
    "full_check": true,
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -4,6 +4,7 @@
 #include <fstream>
 #include <map>
 #include <string>
+#include <algorithm>  // for std::clamp

 #include "common/params.h"
 #include "common/util.h"
@@ -25,7 +26,13 @@ public:
  }

  static cereal::InitData::DeviceType get_device_type() {
-    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
+    static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
+      {"tici", cereal::InitData::DeviceType::TICI},
+      {"tizi", cereal::InitData::DeviceType::TIZI},
+      {"mici", cereal::InitData::DeviceType::MICI}
+    };
+    auto it = device_map.find(get_name());
+    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
  }

  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -68,6 +75,28 @@ public:
    }
  }

+  static void set_ir_power(int percent) {
+    auto device = get_device_type();
+    if (device == cereal::InitData::DeviceType::TICI ||
+        device == cereal::InitData::DeviceType::TIZI) {
+      return;
+    }
+
+    percent = std::clamp(percent, 0, 100);
+
+    std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
+    if (torch_brightness.is_open()) {
+      torch_brightness << percent << "\n";
+      torch_brightness.close();
+    }
+
+    std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
+    if (switch_brightness.is_open()) {
+      switch_brightness << percent << "\n";
+      switch_brightness.close();
+    }
+  }
+
  static std::map<std::string, std::string> get_init_logs() {
    std::map<std::string, std::string> ret = {
      {"/BUILD", util::read_file("/BUILD")},
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -505,8 +505,8 @@ class Tici(HardwareBase):
        pass

    # eSIM prime
-    if sim_id.startswith('8985235'):
-      dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+    if sim_id.startswith('8985235') and not os.path.exists(dest):
      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
        dat = f.read()
        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,9 +31,9 @@ class Proc:


 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.65, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
 ]

--- a/system/timed.py
+++ b/system/timed.py
@@ -5,7 +5,7 @@ import time
 from typing import NoReturn

 import cereal.messaging as messaging
-from openpilot.common.time import system_time_valid
+from openpilot.common.time import min_date, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
@@ -26,10 +26,10 @@ def set_time(new_time):

 def main() -> NoReturn:
  """
-    timed has one responsibility:
-    - getting the current time
+    timed has two responsibilities:
+    - getting the current time from GPS
+    - publishing the time in the logs

-    GPS directly gives time.
    AGNOS will also use NTP to update the time.
  """

@@ -47,14 +47,15 @@ def main() -> NoReturn:
    pm.send('clocks', msg)

    gps = sm[gps_location_service]
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
    if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
      continue
+    if not gps.hasFix:
+      continue
+    if gps_time < min_date():
+      continue

-    # set time
-    # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
-    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
    set_time(gps_time)
-
    time.sleep(10)

 if __name__ == "__main__":
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -11,7 +11,7 @@ Welcome to the first part of the comma CTF!

 getting started
 ```bash
-# start the route reply
+# start the route replay
 cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam

--- a/tools/README.md
+++ b/tools/README.md
@@ -6,7 +6,7 @@ openpilot is developed and tested on **Ubuntu 24.04**, which is the primary deve

 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
+## Native setup on Ubuntu 24.04 and macOS

 **1. Clone openpilot**

@@ -26,7 +26,7 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git

 ``` bash
 cd openpilot
-tools/ubuntu_setup.sh
+tools/op.sh setup
 ```

 **3. Git LFS**
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -23,7 +23,6 @@ function install_ubuntu_common_requirements() {
  $SUDO apt-get install -y --no-install-recommends \
    ca-certificates \
    clang \
-    cppcheck \
    build-essential \
    gcc-arm-none-eabi \
    liblzma-dev \
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -5,15 +5,12 @@ from urllib.parse import urlparse
 from openpilot.tools.lib.url_file import URLFile

 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
-LOCAL_IPS = ["10.", "192.168.", *[f"172.{i}" for i in range(16, 32)]]


 def internal_source_available(url=DATA_ENDPOINT):
  try:
    hostname = urlparse(url).hostname
    port = urlparse(url).port or 80
-    if not socket.gethostbyname(hostname).startswith(LOCAL_IPS):
-      return False
    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
      s.settimeout(0.5)
      s.connect((hostname, port))
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -5,6 +5,9 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)

+# homebrew update is slow
+export HOMEBREW_NO_AUTO_UPDATE=1
+
 if [[ $SHELL == "/bin/zsh" ]]; then
  RC_FILE="$HOME/.zshrc"
 elif [[ $SHELL == "/bin/bash" ]]; then
@@ -28,7 +31,6 @@ if [[ $(command -v brew) == "" ]]; then
 fi

 brew bundle --file=- <<-EOS
-brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
 brew "capnp"
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -328,7 +328,8 @@ function op_switch() {
  BRANCH="$1"

  git fetch "$REMOTE" "$BRANCH"
-  git checkout -f --recurse-submodules "$BRANCH"
+  git checkout -f FETCH_HEAD
+  git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"
  git reset --hard "${REMOTE}/${BRANCH}"
  git clean -df
  git submodule update --init --recursive
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -12,8 +12,8 @@ from openpilot.common.realtime import Ratekeeper
 DUAL_CAM = os.getenv("DUAL_CAMERA")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
 ]
 if DUAL_CAM:
  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
@@ -25,9 +25,10 @@ class Camerad:

    self.cameras = []
    for c in CAMERAS:
+      print(f"opening {c.msg_name} at {c.cam_id}")
      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
      self.cameras.append(cam)
-      self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
+      self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)

    self.vipc_server.start_listener()

--- a/tools/webcam/start_camerad.sh
+++ b/tools/webcam/start_camerad.sh
@@ -5,9 +5,9 @@ export BLOCK="${BLOCK},camerad"
 export USE_WEBCAM="1"

 # Change camera index according to your setting
-export CAMERA_ROAD_ID="0"
-export CAMERA_DRIVER_ID="1"
-export DUAL_CAMERA="2" # camera index for wide road camera
+export CAMERA_ROAD_ID="/dev/video0"
+export CAMERA_DRIVER_ID="/dev/video1"
+#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera

 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

--- a/uv.lock
+++ b/uv.lock
@@ -3,10 +3,10 @@ requires-python = ">=3.11, <=3.12"
 resolution-markers = [
    "python_full_version < '3.12' and platform_system == 'Darwin'",
    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
    "python_full_version >= '3.12' and platform_system == 'Darwin'",
    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]

 [[package]]
@@ -20,7 +20,7 @@ wheels = [

 [[package]]
 name = "aiohttp"
-version = "3.11.9"
+version = "3.11.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
    { name = "propcache" },
    { name = "yarl" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/94/c4/3b5a937b16f6c2a0ada842a9066aad0b7a5708427d4a202a07bf09c67cbb/aiohttp-3.11.10.tar.gz", hash = "sha256:b1fc6b45010a8d0ff9e88f9f2418c6fd408c99c211257334aff41597ebece42e", size = 7668832 }
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