Sync: `commaai/msgq:master` into `sunnypilot/msgq:master`

Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master` Sync: `commaai/panda:master` into `sunnypilot/panda:master`
2024-08-03 20:29:02 -04:00 · 2024-08-03 20:29:02 -04:00 · d35cdb510d
parent 57daa151cb 8f9b165de8
commit d35cdb510d
242 changed files with 5175 additions and 5193 deletions
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@ -44,7 +44,7 @@ subaru:

 tesla:
  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+    - any-glob-to-all-files: 'selfdrive/car/tesla/*'

 toyota:
  - changed-files:
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@ -7,7 +7,7 @@ on:
 env:
  BASE_IMAGE: openpilot-base
  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

 jobs:
  badges:
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@ -10,38 +10,30 @@ concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
 jobs:
  setup:
    if: github.repository == 'commaai/openpilot'
    runs-on: ubuntu-latest
    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
    steps:
      - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
        run: |
-          CI_RUNS=${{ inputs.ci_runs || '50' }}
-          mylist="value=["
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT

-          for i in $(seq 1 $CI_RUNS);
-          do
-              if [ $i != $CI_RUNS ]; then
-                  mylist+="\"$i\", "
-              else
-                  mylist+="\"$i\"]"
-              fi
-          done
-
-          echo "$mylist" >> $GITHUB_OUTPUT
-          echo "Number of CI runs for report: $CI_RUNS"
  ci_matrix_run:
    needs: [ setup ]
    strategy:
      fail-fast: false
-      matrix:
-        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
    with:
-      run_number: ${{ matrix.value }}
+      run_number: ${{ matrix.run_number }}

  report:
    needs: [ci_matrix_run]
@ -62,62 +54,48 @@ jobs:
              })
            var report = {}
            jobs.slice(1, jobs.length-1).forEach(job => {
-              const jobName = job.name.split('/')[2].trim();
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
              switch (job.conclusion) {
                case "success":
-                  report[jobName].successes.push(job.html_url); break;
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                case "failure":
-                  report[jobName].failures.push(job.html_url); break;
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
                case "cancelled":
-                  report[jobName].cancelled.push(job.html_url); break;
+                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
              }
            });
-            return JSON.stringify(report);
+            return JSON.stringify({"jobs": report});

      - name: Add job results to summary
        env:
          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
        run: |
-          echo $JOB_RESULTS > job_results.json
-          generate_html_table() {
-            echo "<table>"
-            echo "<thead>"
-            echo "  <tr>"
-            echo "    <th>Job</th>"
-            echo "    <th>Succeeded ✅</th>"
-            echo "    <th>Failed ❌</th>"
-            echo "    <th>Cancelled (timed out) ⏰</th>"
-            echo "  </tr>"
-            echo "</thead>"
-            jq -r '
-              "<tbody>",
-              keys[] as $job |
-              "<tr>",
-              "  <td>\($job)</td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].successes | length))</summary>",
-              "      \(.[$job].successes[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].failures | length))</summary>",
-              "      \(.[$job].failures[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].cancelled | length))</summary>",
-              "      \(.[$job].cancelled[])<br>",
-              "    </details>",
-              "  </td>",
-              "</tr>"
-            ' job_results.json
-            echo  "</tbody>"
-            echo  "</table>"
-          }
-          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
-          generate_html_table >> $GITHUB_STEP_SUMMARY
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF

+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@ -15,31 +15,24 @@ concurrency:
  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

-env:
-  BASE_IMAGE: openpilot-base
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
 jobs:
  docs:
    name: build docs
    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    if: false  # TODO: replace this with the new docs
+    timeout-minutes: 1
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+
+    # Build
    - name: Build docs
      run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs
+        mkdocs build

+    # Push to docs.comma.ai
    - uses: actions/checkout@v4
      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      with:
@ -54,16 +47,17 @@ jobs:
        source release/identity.sh

        cd openpilot-docs
-
        git checkout --orphan tmp
        git rm -rf .

-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
+        # copy over docs
+        cp -r ../docs_site/ docs/
+
+        # GitHub pages config
        touch docs/.nojekyll
        echo -n docs.comma.ai > docs/CNAME
-        git add -f .

+        git add -f .
        git commit -m "build docs"

        # docs live in different repo to not bloat openpilot's full clone size
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@ -0,0 +1,45 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created, edited]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.issue.pull_request }}
+    steps:
+    - name: Check for trigger phrase
+      id: check_comment
+      uses: actions/github-script@v7
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: json
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: refs/pull/${{ github.event.issue.number }}/head
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@ -46,17 +46,13 @@ jobs:
        python3 -m ensurepip --upgrade
        pip3 install uv
        uv lock --upgrade
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
    - name: Create Pull Request
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
        author: Vehicle Researcher <user@comma.ai>
        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
+        commit-message: Update Python packages
+        title: '[bot] Update Python packages'
        branch: auto-package-updates
        base: master
        delete-branch: true
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -25,7 +25,7 @@ env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: selfdrive/test/docker_build.sh base

-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical

@ -45,7 +45,6 @@ jobs:
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@ -62,20 +61,22 @@ jobs:
        cd $STRIPPED_DIR
        ${{ env.RUN }} "release/check-dirty.sh && \
                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
+    - name: static analysis
+      timeout-minutes: 1
      run: |
        cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
        cp pyproject.toml $STRIPPED_DIR
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "scripts/lint.sh"

  build:
    strategy:
      matrix:
-        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
-    runs-on: ubuntu-latest
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -84,7 +85,7 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
      with:
@ -93,7 +94,7 @@ jobs:
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

  build_mac:
-    name: build macos
+    name: build macOS
    runs-on: macos-latest
    steps:
    - uses: actions/checkout@v4
@ -103,11 +104,36 @@ jobs:
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
-        SKIP_PROMPT: 1
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
-    - name: Test openpilot environment
-      run: . .venv/bin/activate && scons -h
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
+
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64

  static_analysis:
    name: static analysis
@ -118,13 +144,12 @@ jobs:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+    - name: static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint.sh"

  unit_tests:
    name: unit tests
@ -310,8 +335,10 @@ jobs:
            })

  create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
    name: Create UI Report
    runs-on: ubuntu-latest
+    if: github.event_name == 'pull_request'
    steps:
      - uses: actions/checkout@v4
        with:
@ -328,55 +355,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number }}
-          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
-      - name: Get changes to selfdrive/ui
-        if: ${{ github.event_name == 'pull_request' }}
-        id: changed-files
-        uses: tj-actions/changed-files@v44
-        with:
-         files: |
-            selfdrive/ui/**
-      - name: Checkout ci-artifacts
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-      - name: Push Screenshots
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
-          git add .
-          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
-          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
-      - name: Comment Screenshots on PR
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
-              </tr>
-            </table>
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.pull_request.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          name: report-${{ github.event.number }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ b/.github/workflows/setup-pre-commit/action.yaml
@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@ -5,8 +5,8 @@ on:
  workflow_dispatch:

 env:
-  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 14
+  DAYS_BEFORE_PR_CLOSE: 2
+  DAYS_BEFORE_PR_STALE: 9

 jobs:
  stale:
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -21,7 +21,7 @@ env:

  BUILD: selfdrive/test/docker_build.sh base

-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c


 jobs:
@ -74,12 +74,6 @@ jobs:
          scons-${{ runner.arch }}-ubuntu2004
    - name: Building openpilot
      run: uv run scons -u -j$(nproc)
-    - name: Saving scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

  devcontainer:
    name: devcontainer
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@ -0,0 +1,91 @@
+name: "ui preview"
+on:
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/ui/**'
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - name: Waiting for ui test to start
+        run: sleep 30
+
+      - name: Wait for ui report
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Get workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Checkout ci-artifacts
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+
+      - name: Download artifact
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: report-${{ github.event.number }}
+          path: ${{ github.workspace }}/ci-artifacts
+
+      - name: Push Screenshots
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git add ${{ github.workspace }}/ci-artifacts/*
+          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git push origin openpilot/pr-${{ github.event.number }} --force
+
+      - name: Comment Screenshots on PR
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@ -14,6 +14,8 @@ model2.png
 a.out
 .hypothesis

+/docs_site/
+
 *.dylib
 *.DSYM
 *.d
@ -103,4 +105,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
+.ionide
--- a/.gitmodules
+++ b/.gitmodules
@ -2,20 +2,17 @@
  path = panda
  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
-  path = opendbc
-  url = https://github.com/sunnyhaibin/opendbc.git
+  path = opendbc_repo
+  url = https://github.com/commaai/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = https://github.com/commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = https://github.com/commaai/body.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
--- a/.importlinter
+++ b/.importlinter
@ -0,0 +1,41 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+unmatched_ignore_imports_alerting = warn
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -1,98 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
-   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
-   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
-   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.0
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
-   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
-   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
-        - --library=qt
-        - --include=third_party/kaitai/kaitaistream.h
-   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
-   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
-   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
-   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
-    hooks:
-    -   id: check-github-workflows
--- a/2
+++ b/2
@ -83,7 +83,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)

    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 35, unit: 'MINUTES') {
          retry (3) {
            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
          }
--- a/11
+++ b/11
@ -110,7 +110,6 @@ if arch == "larch64":

  libpath = [
    "/usr/local/lib",
-    "/usr/lib",
    "/system/vendor/lib64",
    f"#third_party/acados/{arch}/lib",
  ]
@ -178,7 +177,6 @@ if arch != "Darwin":
  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]

 # Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']

 if not GetOption('stock_ui'):
@ -218,7 +216,6 @@ env = Environment(
    "#third_party/json11",
    "#third_party/linux/include",
    "#third_party/snpe/include",
-    "#third_party/qrcode",
    "#third_party",
    "#cereal",
    "#msgq",
@ -246,7 +243,7 @@ env = Environment(
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )

 if arch == "Darwin":
@ -286,7 +283,8 @@ if arch == "Darwin":
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')

 # Qt build environment
 qt_env = env.Clone()
@ -330,7 +328,7 @@ try:
 except SCons.Errors.UserError:
  qt_env.Tool('qt')

-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
  "-D_REENTRANT",
  "-DQT_NO_DEBUG",
@ -379,7 +377,6 @@ Export('messaging')

 # Build other submodules
 SConscript([
-  'body/board/SConscript',
  'opendbc/can/SConscript',
  'panda/SConscript',
 ])
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -137,8 +137,6 @@ struct FrameData {
  requestId @28 :UInt32;
  encodeId @1 :UInt32;

-  frameType @7 :FrameType;
-
  # Timestamps
  timestampEof @2 :UInt64;
  timestampSof @8 :UInt64;
@ -158,7 +156,7 @@ struct FrameData {

  temperaturesC @24 :List(Float32);

-  enum FrameType {
+  enum FrameTypeDEPRECATED {
    unknown @0;
    neo @1;
    chffrAndroid @2;
@ -175,6 +173,7 @@ struct FrameData {

  frameLengthDEPRECATED @3 :Int32;
  globalGainDEPRECATED @5 :Int32;
+  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
  lensPosDEPRECATED @11 :Int32;
  lensSagDEPRECATED @12 :Float32;
@ -337,9 +336,9 @@ enum LaneChangeDirection {

 struct CanData {
  address @0 :UInt32;
-  busTime @1 :UInt16;
  dat     @2 :Data;
  src     @3 :UInt8;
+  busTimeDEPRECATED @1 :UInt16;
 }

 struct DeviceState @0xa4d8b5af2aa492eb {
@ -1252,6 +1251,38 @@ struct LiveLocationKalman {
  }
 }

+
+struct LivePose {
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  orientationNED @0 :XYZMeasurement;
+  velocityDevice @1 :XYZMeasurement;
+  accelerationDevice @2 :XYZMeasurement;
+  angularVelocityDevice @3 :XYZMeasurement;
+
+  inputsOK @4 :Bool = false;
+  posenetOK @5 :Bool = false;
+  sensorsOK @6 :Bool = false;
+
+  filterState @7 :FilterState;
+
+  struct XYZMeasurement {
+    x @0 :Float32;
+    y @1 :Float32;
+    z @2 :Float32;
+    xStd @3 :Float32;
+    yStd @4 :Float32;
+    zStd @5 :Float32;
+    valid @6 :Bool;
+  }
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct ProcLog {
  cpuTimes @0 :List(CPUTimes);
  mem @1 :Mem;
@ -2293,6 +2324,7 @@ struct Event {
    carParams @69: Car.CarParams;
    driverMonitoringState @71: DriverMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
+    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
    drivingModelData @128 :DrivingModelData;
    driverStateV2 @92 :DriverStateV2;
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@ -2,7 +2,8 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq

 import os
 import capnp
@ -17,8 +18,12 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1


-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def reset_context():
+  msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
    return msg


--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@ -6,8 +5,8 @@ import numbers
 import random
 import threading
 import time
-import unittest
 from parameterized import parameterized
+import pytest

 from cereal import log, car
 import cereal.messaging as messaging
@ -28,12 +27,6 @@ def zmq_sleep(t=1):
  if "ZMQ" in os.environ:
    time.sleep(t)

-def zmq_expected_failure(func):
-  if "ZMQ" in os.environ:
-    return unittest.expectedFailure(func)
-  else:
-    return func
-

 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@ -58,12 +51,12 @@ def delayed_send(delay, sock, dat):
  threading.Timer(delay, send_func).start()


-class TestMessaging(unittest.TestCase):
+class TestMessaging:
  def setUp(self):
    # TODO: ZMQ tests are too slow; all sleeps will need to be
    # replaced with logic to block on the necessary condition
    if "ZMQ" in os.environ:
-      raise unittest.SkipTest
+      pytest.skip()

    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
@ -75,9 +68,9 @@ class TestMessaging(unittest.TestCase):
      msg = messaging.new_message(evt)
    except capnp.lib.capnp.KjException:
      msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertFalse(msg.valid)
-    self.assertEqual(evt, msg.which())
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert not msg.valid
+    assert evt == msg.which()

  @parameterized.expand(events)
  def test_pub_sock(self, evt):
@ -99,8 +92,8 @@ class TestMessaging(unittest.TestCase):

    # no wait and no msgs in queue
    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
+    assert isinstance(msgs, list)
+    assert len(msgs) == 0

    # no wait but msgs are queued up
    num_msgs = random.randrange(3, 10)
@ -108,9 +101,9 @@ class TestMessaging(unittest.TestCase):
      pub_sock.send(messaging.new_message(sock).to_bytes())
    time.sleep(0.1)
    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
-    self.assertEqual(len(msgs), num_msgs)
+    assert isinstance(msgs, list)
+    assert all(isinstance(msg, expected_type) for msg in msgs)
+    assert len(msgs) == num_msgs

  def test_recv_sock(self):
    sock = "carState"
@ -120,14 +113,14 @@ class TestMessaging(unittest.TestCase):

    # no wait and no msg in queue, socket should timeout
    recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None

    # no wait and one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    time.sleep(0.01)
    recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    # https://github.com/python/mypy/issues/13038
    assert_carstate(msg.carState, recvd.carState)

@ -139,16 +132,16 @@ class TestMessaging(unittest.TestCase):

    # no msg in queue, socket should timeout
    recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None

    # one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)

-  @zmq_expected_failure
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
  def test_recv_one_or_none(self):
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
@ -157,13 +150,13 @@ class TestMessaging(unittest.TestCase):

    # no msg in queue, socket shouldn't block
    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None

    # one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)

  def test_recv_one_retry(self):
@ -179,7 +172,7 @@ class TestMessaging(unittest.TestCase):
      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
      p.start()
      time.sleep(sock_timeout*15)
-      self.assertTrue(p.is_alive())
+      assert p.is_alive()
      p.terminate()

    # wait 15 socket timeouts before sending
@ -187,9 +180,6 @@ class TestMessaging(unittest.TestCase):
    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
    start_time = time.monotonic()
    recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
-  unittest.main()
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@ -1,8 +1,6 @@
-#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
-import unittest

 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@ -10,9 +8,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
                                                  zmq_sleep


-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:

-  def setUp(self):
+  def setup_method(self):
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)
@ -21,21 +19,21 @@ class TestSubMaster(unittest.TestCase):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
+      assert len(cast(Sized, p)) == len(events)

  def test_init_state(self):
    socks = random_socks()
    sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
-    self.assertFalse(any(sm.updated.values()))
-    self.assertFalse(any(sm.alive.values()))
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+    assert sm.frame == -1
+    assert not any(sm.updated.values())
+    assert not any(sm.alive.values())
+    assert all(t == 0. for t in sm.recv_time.values())
+    assert all(f == 0 for f in sm.recv_frame.values())
+    assert all(t == 0 for t in sm.logMonoTime.values())

    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
+      assert len(cast(Sized, p)) == len(socks)

  def test_getitem(self):
    sock = "carState"
@ -59,8 +57,8 @@ class TestSubMaster(unittest.TestCase):
      msg = messaging.new_message(sock)
      pub_sock.send(msg.to_bytes())
      sm.update(1000)
-      self.assertEqual(sm.frame, i)
-      self.assertTrue(all(sm.updated.values()))
+      assert sm.frame == i
+      assert all(sm.updated.values())

  def test_update_timeout(self):
    sock = random_sock()
@ -70,9 +68,9 @@ class TestSubMaster(unittest.TestCase):
      start_time = time.monotonic()
      sm.update(timeout)
      t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
-      self.assertLess(t, 5)
-      self.assertFalse(any(sm.updated.values()))
+      assert t >= timeout/1000.
+      assert t < 5
+      assert not any(sm.updated.values())

  def test_avg_frequency_checks(self):
    for poll in (True, False):
@ -118,12 +116,12 @@ class TestSubMaster(unittest.TestCase):
      pub_sock.send(msg.to_bytes())
      time.sleep(0.01)
    sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
+    assert sm[sock].vEgo == n


-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:

-  def setUp(self):
+  def setup_method(self):
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)
@ -156,8 +154,4 @@ class TestPubMaster(unittest.TestCase):
        if capnp:
          msg.clear_write_flag()
          msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
-  unittest.main()
+        assert msg == recvd, i
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@ -1,26 +1,21 @@
-#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
-import unittest
 from parameterized import parameterized

 import cereal.services as services
 from cereal.services import SERVICE_LIST


-class TestServices(unittest.TestCase):
+class TestServices:

  @parameterized.expand(SERVICE_LIST.keys())
  def test_services(self, s):
    service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
-    self.assertTrue(service.decimation != 0)
+    assert service.frequency <= 104
+    assert service.decimation != 0

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
-  unittest.main()
+      assert ret == 0, "generated services header is not valid C"
--- a/cereal/services.py
+++ b/cereal/services.py
@ -16,13 +16,13 @@ _services: dict[str, tuple] = {
  "gyroscope2": (True, 100., 100),
  "accelerometer": (True, 104., 104),
  "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 25.),
  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
@ -38,7 +38,7 @@ _services: dict[str, tuple] = {
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
+  "longitudinalPlan": (True, 20., 10),
  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
@ -47,9 +47,10 @@ _services: dict[str, tuple] = {
  "gnssMeasurements": (True, 10., 10),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20.),
  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
  "lateralPlanDEPRECATED": (True, 20., 5),
  "thumbnail": (True, 0.2, 1),
  "onroadEvents": (True, 1., 1),
--- a/common/params.cc
+++ b/common/params.cc
@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
  int result = -1;
  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
  if (fd >= 0) {
-    result = fsync(fd);
-    close(fd);
+    result = HANDLE_EINTR(fsync(fd));
+    HANDLE_EINTR(close(fd));
  }
  return result;
 }
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@ -47,9 +47,9 @@ class DeviceCameraConfig:
        yield cam, getattr(self, cam)

 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())

 DEVICE_CAMERAS = {
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 288 Supported Cars
+# 287 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
--- a/docs/README.md
+++ b/docs/README.md
@ -1,3 +1,26 @@
-# openpilot-docs
+# openpilot docs

-These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.
+This is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+mkdocs build
+```
+
+**3. Run the new site locally**
+``` bash
+mkdocs serve
+```
+
+References:
+* https://www.mkdocs.org/getting-started/
+* https://github.com/ntno/mkdocs-terminal
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .

 # run the linter
-pre-commit run --all
+op lint
 ```

 ## Testing
--- a/docs/new/docs/car-porting/brand-port.md
+++ b/docs/new/docs/car-porting/brand-port.md
--- a/docs/new/docs/car-porting/model-port.md
+++ b/docs/new/docs/car-porting/model-port.md
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/car-porting/what-is-a-car-port.md
@ -0,0 +1,22 @@
+# What is a car port?
+
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
+
+The complexity of a car port varies depending on many factors including:
+* existing openpilot support for similar cars
+* architecture and APIs available in the car
+
+
+# Structure of a car port
+* `interface.py`: Interface for the car, defines the CarInterface class
+* `carstate.py`: Reads CAN from car and builds openpilot CarState message
+* `carcontroller.py`: Builds CAN messages to send to car
+* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
+* `radar_interface.py`: Interface for parsing radar points from the car
+
+
+# Overiew
+
+[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
+
+https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@ -0,0 +1,8 @@
+# openpilot glossary
+
+* **route**:
+* **segment**: routes are split into one minute chunks called segments.
+* **panda**: this is . See the repo.
+* **onroad**:
+* **offroad**:
+* **comma 3X**:
--- a/system/loggerd/README.md
+++ b/system/loggerd/README.md
@ -1,10 +1,8 @@
-# loggerd
+# Logging

 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.

-Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
-
-## log types
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.

 For each segment, openpilot records the following log types:

@ -15,9 +13,10 @@ rlogs contain all the messages passed amongst openpilot's processes. See [cereal
 ## {f,e,d}camera.hevc

 Each camera stream is H.265 encoded and written to its respective file.
-* fcamera.hevc is the road camera
-* ecamera.hevc is the wide road camera
-* dcamera.hevc is the driver camera
+
+* `fcamera.hevc` is the road camera
+* `ecamera.hevc` is the wide road camera
+* `dcamera.hevc` is the driver camera

 ## qlog.bz2 & qcamera.ts

--- a/docs/concepts/safety.md
+++ b/docs/concepts/safety.md
@ -0,0 +1 @@
+../SAFETY.md
--- a/docs/contributing/architecture.md
+++ b/docs/contributing/architecture.md
@ -0,0 +1 @@
+# Architecture
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@ -0,0 +1,30 @@
+# Roadmap
+
+This is the roadmap for the next major openpilot releases. Also check out
+
+* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
+* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
+* [Bounties](https://comma.ai/bounties) for paid individual issues
+
+## openpilot 0.10
+
+openpilot 0.10 will be the first release with a driving policy trained in
+a [learned simulator](https://youtu.be/EqQNZXqzFSI).
+
+* Driving model trained in a learned simlator
+* Always-on driver monitoring (behind a toggle)
+* GPS removed from the driving stack
+* 100KB qlogs
+* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
+* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
+
+## openpilot 1.0
+
+openpilot 1.0 will feature a fully end-to-end driving policy.
+
+* End-to-end longitudinal control in Chill mode
+* Automatic Emergency Braking (AEB)
+* Driver monitoring with sleep detection
+* Rolling updates/releases pushed out by CI
+* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
--- a/docs/new/docs/getting-started/what-is-openpilot.md
+++ b/docs/new/docs/getting-started/what-is-openpilot.md
@ -1,6 +1,6 @@
 # What is openpilot?

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).


 ## How do I use it?
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@ -1,39 +1,42 @@
-# SSH
+# connect to a comma 3/3X

-## Quick Start
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+
+## Serial Console
+
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+
+## SSH

 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.

 * Enable SSH in your device's settings
 * Enter your GitHub username in the device's settings
 * Connect to your device
-  * Username: `comma`
-  * Port: `22` or `8022`
+    * Username: `comma`
+    * Port: `22`

 Here's an example command for connecting to your device using its tethered connection:<br />
 `ssh comma@192.168.43.1`

 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).

-## Notes
+### Notes

 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.

-See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+#### ssh.comma.ai proxy

-# Connecting to ssh.comma.ai
-SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
+With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.

-## Setup
-
-With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
-
-## Recommended .ssh/config
-
-With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br />
-For example: `ssh comma-ffffffffffffffff`
+With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.

 ```
 Host comma-*
@ -41,20 +44,21 @@ Host comma-*
  User comma
  IdentityFile ~/.ssh/my_github_key
  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+
 Host ssh.comma.ai
  Hostname ssh.comma.ai
  Port 22
  IdentityFile ~/.ssh/my_github_key
 ```

-## One-off connection
+### One-off connection

 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
 (Replace `ffffffffffffffff` with your dongle_id)

-## ssh.comma.ai host key fingerprint
+### ssh.comma.ai host key fingerprint

 ```
 Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@ -0,0 +1,14 @@
+# Replay
+
+Replaying is a critical tool for openpilot development and debugging.
+
+## Replaying a route
+*Hardware required: none*
+
+Just run `tools/replay/replay --demo`.
+
+## Replaying CAN data
+*Hardware required: jungle and comma 3/3X*
+
+1. Connect your PC to a jungle.
+2.
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@ -0,0 +1,98 @@
+# Turn the speed blue
+*A getting started guide for openpilot development*
+
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+
+## 1. Setup your development environment
+
+Run this to clone openpilot and install all the dependencies:
+```bash
+curl -fsSL openpilot.comma.ai | bash
+```
+
+Navigate to openpilot folder & activate a Python virtual environment
+```bash
+cd openpilot
+source .venv/bin/activate
+```
+
+Then, compile openpilot:
+```bash
+scons -j8
+```
+
+## 2. Run replay
+
+We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
+```bash
+# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+```
+
+The openpilot UI should launch and show a replay of the demo route.
+
+If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
+
+## 3. Make the speed blue
+
+Search for “mph” with git grep in the `ui` folder.
+```bash
+$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+```
+
+The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+```bash
+$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+```
+
+
+## 4. Rebuild UI, and admire your work
+
+```
+scons -j8 && selfdrive/ui/ui
+```
+
+![](https://blog.comma.ai/img/blue_speed_ui.png)
+
+## 5. Push your fork to GitHub
+
+Click fork on GitHub. Then, push with:
+```bash
+git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+```
+
+## 6. Run your fork on device in your car!
+
+Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+```
+installer.comma.ai/<your-github-username>/master
+```
+
+## 7. Admire your work IRL
+
+![](https://blog.comma.ai/img/c3_blue_ui.jpg)
--- a/docs/index.md
+++ b/docs/index.md
@ -0,0 +1 @@
+getting-started/what-is-openpilot.md
--- a/docs/new/README.md
+++ b/docs/new/README.md
@ -1,12 +0,0 @@
-This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
-
-https://www.mkdocs.org/getting-started/
-
-```
-pip install mkdocs mkdocs-terminal
-mkdocs serve
-```
-
-inspiration:
-* https://rerun.io/docs/
-* https://docs.expo.dev/
--- a/docs/new/docs/car-porting/what-is-a-car-port.md
+++ b/docs/new/docs/car-porting/what-is-a-car-port.md
@ -1,9 +0,0 @@
-# What is a car port?
-
-All car ports live in `openpilot/selfdrive/car/`.
-
-* interface.py: Interface for the car, defines the CarInterface class
-* carstate.py: Reads CAN from car and builds openpilot CarState message
-* carcontroller.py: Builds CAN messages to send to car
-* values.py: Limits for actuation, general constants for cars, and supported car documentation
-* radar_interface.py: Interface for parsing radar points from the car
--- a/docs/new/docs/how-to/turning-the-speed-blue.md
+++ b/docs/new/docs/how-to/turning-the-speed-blue.md
@ -1,4 +0,0 @@
-This section is for how-to's on common workflows.
-
-They'll be like this blog post we wrote:
-https://blog.comma.ai/turning-the-speed-blue/
--- a/docs/new/mkdocs.yml
+++ b/docs/new/mkdocs.yml
@ -1,18 +0,0 @@
-site_name: openpilot docs
-docs_dir: docs
-repo_url: https://github.com/commaai/openpilot/
-
-theme:
-  name: terminal
-  features:
-    - navigation.side.toc.hide
-
-nav:
-  - Getting Started:
-    - What is openpilot?: getting-started/what-is-openpilot.md
-  - How-to:
-    - Turn the speed blue: how-to/turning-the-speed-blue.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
--- a/mkdocs.yml
+++ b/mkdocs.yml
@ -0,0 +1,38 @@
+site_name: openpilot docs
+repo_url: https://github.com/commaai/openpilot/
+site_url: https://docs.comma.ai
+
+exclude_docs: README.md
+
+strict: true
+docs_dir: docs
+site_dir: docs_site/
+
+theme:
+  name: readthedocs
+  navigation_depth: 3
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    #- Replay a drive: how-to/replay-a-drive.md
+  - Concepts:
+    - Logs: concepts/logs.md
+    - Safety: concepts/safety.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md
+  - Contributing:
+    - Roadmap: contributing/roadmap.md
+    #- Architecture: contributing/architecture.md
+    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+  - Links:
+    - Blog →: https://blog.comma.ai
+    - Bounties →: https://comma.ai/bounties
+    - GitHub →: https://github.com/commaai
+    - Discord →: https://discord.comma.ai
+    - X →: https://x.com/comma_ai
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit da77480a969b3a48ee8c03839e7b6a66f6b5ed97
+Subproject commit e6c0716e413927f7ea3df6088282e4f4eadfbe78
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit adc1fffe60c7f503a252969c112c991f6fcaa37e
--- a/1
+++ b/1
@ -0,0 +1 @@
+opendbc_repo/opendbc
--- a/1
+++ b/1
@ -0,0 +1 @@
+Subproject commit d3cdde5f19d87a2853874b3fa1c5c5e277d9d7f8
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 5d92bdc6dee1f1bba5062f551bf6938f40723d81
+Subproject commit 6a6cd445195c4d897d1b39b0fe1b1783304804e8
--- a/pyproject.toml
+++ b/pyproject.toml
@ -26,7 +26,7 @@ dependencies = [
  "pycapnp",
  "Cython",
  "setuptools",
-  "numpy < 2.0.0", # control does not support numpy 2
+  "numpy",

  # body / webrtcd
  "aiohttp",
@ -52,27 +52,30 @@ dependencies = [
  "websocket_client",

  # acados deps
-  "casadi",
+  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
+  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
  "future-fstrings",

  # these should be removed
  "psutil",
  "pycryptodome", # used in updated/casync, panda, body, and a test

-  #logreader
-  "zstd",
+  # logreader
+  "zstandard",
 ]

 [project.optional-dependencies]
 docs = [
  "Jinja2",
+  "natsort",
+  "mkdocs",
 ]

 testing = [
  "coverage",
  "hypothesis ==6.47.*",
+  "import-linter",
  "mypy",
-  "pre-commit",
  "pytest",
  "pytest-cov",
  "pytest-cpp",
@ -83,30 +86,25 @@ testing = [
  "pytest-asyncio",
  "pytest-mock",
  "pytest-repeat",
-  "ruff"
+  "ruff",
+  "codespell",
 ]

 dev = [
  "av",
  "azure-identity",
  "azure-storage-blob",
-  "breathe",
-  "control",
  "dictdiffer",
  "flaky",
  "inputs",
  "lru-dict",
  "matplotlib",
-  "metadrive-simulator; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
-  "opencv-python-headless",
+  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
  "parameterized >=0.8, <0.9",
-  #pprofile = "*"
+  #"pprofile",
  "pyautogui",
-  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
  "pywinctl",
  "pyprof2calltree",
  "rerun-sdk",
@ -116,12 +114,8 @@ dev = [

  # this is only pinned since 5.15.11 is broken
  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
 ]

-[tool.uv.sources]
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
-
 [project.urls]
 Homepage = "https://comma.ai"

@ -132,9 +126,12 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [ "." ]

+[tool.hatch.metadata]
+allow-direct-references = true
+
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@ -167,6 +164,13 @@ testpaths = [
  "cereal/messaging/tests",
 ]

+[tool.codespell]
+count = true
+quiet-level = 3
+# if you've got a short variable name that's getting flagged, add it here
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
+builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+
 [tool.mypy]
 python_version = "3.11"
 plugins = [
@ -223,7 +227,7 @@ lint.ignore = [
  "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version="py311"
+target-version ="py311"
 exclude = [
  "body",
  "cereal",
@ -235,7 +239,8 @@ exclude = [
  "teleoprtc_repo",
  "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline=false
+lint.flake8-implicit-str-concat.allow-multiline = false
+
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
@ -247,5 +252,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false

 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+
 [tool.ruff.format]
 quote-style = "preserve"
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
+Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0
--- a/release/release_files.py
+++ b/release/release_files.py
@ -10,14 +10,12 @@ ROOT = HERE + "/.."
 # - minimizing release download size
 # - keeping the diff readable
 blacklist = [
-  "body/STL/",
-
  "panda/drivers/",
  "panda/examples/",
  "panda/tests/safety/",

-  "opendbc/.*.dbc$",
-  "opendbc/generator/",
+  "opendbc_repo/dbc/.*.dbc$",
+  "opendbc_repo/dbc/generator/",

  "cereal/.*test.*",
  "^common/tests/",
@ -28,7 +26,6 @@ blacklist = [
  "selfdrive/car/tests/test_models.*",

  "^tools/",
-  "^scripts/",
  "^tinygrad_repo/",

  "matlab.*.md",
@ -118,55 +115,55 @@ whitelist = [
  "tinygrad_repo/tinygrad/.*.py",

  # TODO: do this automatically
-  "opendbc/comma_body.dbc",
-  "opendbc/chrysler_ram_hd_generated.dbc",
-  "opendbc/chrysler_ram_dt_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc/gm_global_a_object.dbc",
-  "opendbc/gm_global_a_chassis.dbc",
-  "opendbc/FORD_CADS.dbc",
-  "opendbc/ford_fusion_2018_adas.dbc",
-  "opendbc/ford_lincoln_base_pt.dbc",
-  "opendbc/honda_accord_2018_can_generated.dbc",
-  "opendbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc/acura_ilx_2016_nidec.dbc",
-  "opendbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc/hyundai_canfd.dbc",
-  "opendbc/hyundai_kia_generic.dbc",
-  "opendbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc/mazda_2017.dbc",
-  "opendbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc/nissan_leaf_2018_generated.dbc",
-  "opendbc/subaru_global_2017_generated.dbc",
-  "opendbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc/subaru_outback_2015_generated.dbc",
-  "opendbc/subaru_outback_2019_generated.dbc",
-  "opendbc/subaru_forester_2017_generated.dbc",
-  "opendbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc/toyota_adas.dbc",
-  "opendbc/toyota_tss2_adas.dbc",
-  "opendbc/vw_golf_mk4.dbc",
-  "opendbc/vw_mqb_2010.dbc",
-  "opendbc/tesla_can.dbc",
-  "opendbc/tesla_radar_bosch_generated.dbc",
-  "opendbc/tesla_radar_continental_generated.dbc",
-  "opendbc/tesla_powertrain.dbc",
+  "opendbc_repo/dbc/comma_body.dbc",
+  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
+  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc_repo/dbc/gm_global_a_object.dbc",
+  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
+  "opendbc_repo/dbc/FORD_CADS.dbc",
+  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
+  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
+  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
+  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc_repo/dbc/hyundai_canfd.dbc",
+  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
+  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc_repo/dbc/mazda_2017.dbc",
+  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
+  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
+  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_adas.dbc",
+  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
+  "opendbc_repo/dbc/vw_golf_mk4.dbc",
+  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]

 # Sunnypilot whitelist
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@ -0,0 +1,390 @@
+#!/bin/bash -e
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1 > /dev/null 2>&1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files" > /dev/null
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
+  cd $SRC_CLONE
+  > rewrite-branches-done
+
+  # empty file
+  > $BRANCH_DIFF_LOG
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+      
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+      
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+      
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+      
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+      
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
+  cd $SRC_CLONE
+  > validation-done
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+
+  # empty file
+  > $COMMIT_DIFF_LOG
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
+    
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
--- a/scripts/git_rewrite/tag-commit-map.txt
+++ b/scripts/git_rewrite/tag-commit-map.txt
@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
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+v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
+v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
+v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
+v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
+v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
+v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
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+v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
+v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
+v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
+v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
+v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
+v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
+v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
+v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
+v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
+v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
+v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
+v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
+v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
+v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
+v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
+v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
+v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../
+
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+
+ruff check .
--- a/scripts/pyupgrade.sh
+++ b/scripts/pyupgrade.sh
@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-pip install --upgrade pyupgrade
-
-git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -7,10 +7,12 @@ from dataclasses import replace
 import capnp

 from cereal import car
+from panda.python.uds import SERVICE_TYPE
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs

+DT_CTRL = 0.01  # car state and control loop timestep (s)

 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@ -224,8 +226,39 @@ def create_gas_interceptor_command(packer, gas_amount, idx):
  return packer.make_can_msg("GAS_COMMAND", 0, values)


+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
 def make_can_msg(addr, dat, bus):
-  return [addr, 0, dat, bus]
+  return [addr, dat, bus]
+
+
+def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+  dat.append(0x80 if suppress_response else 0x0)  # sub-function
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)


 def get_safety_config(safety_model, safety_param = None):
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@ -1,7 +1,7 @@
 import numpy as np

-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1  # meters

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.frame = 0
+    super().__init__(dbc_name, CP, VM)
    self.packer = CANPacker(dbc_name)

    # PIDs
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM

--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@ -11,9 +11,10 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE

 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper

 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.param_manager import ParamManager
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@ -4,8 +4,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
@ -16,9 +15,8 @@ ButtonType = car.CarState.ButtonEvent.Type

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.apply_steer_last = 0
-    self.frame = 0

    self.hud_count = 0
    self.last_lkas_falling_edge = 0
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@ -4,35 +4,6 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu

 FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AK',
-    ],
-  },
  CAR.CHRYSLER_PACIFICA_2018: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68227902AF',
@ -55,6 +26,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdRadar, 0x753, None): [
      b'04672758AA',
+      b'04672758AB',
      b'68226356AF',
      b'68226356AH',
      b'68226356AI',
@ -76,6 +48,7 @@ FW_VERSIONS = {
      b'68352654AE ',
      b'68366851AH ',
      b'68366853AE ',
+      b'68366853AG ',
      b'68372861AF ',
    ],
    (Ecu.transmission, 0x7e1, None): [
@ -89,6 +62,7 @@ FW_VERSIONS = {
      b'68277374AD',
      b'68277374AN',
      b'68367471AC',
+      b'68367471AD',
      b'68380571AB',
    ],
  },
@ -181,26 +155,39 @@ FW_VERSIONS = {
  },
  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
    (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
      b'68358439AE',
      b'68358439AG',
    ],
    (Ecu.srs, 0x744, None): [
+      b'68238840AH',
      b'68358990AC',
      b'68405939AA',
    ],
    (Ecu.fwdRadar, 0x753, None): [
      b'04672758AA',
+      b'68226356AI',
    ],
    (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
      b'68288309AD',
      b'68525339AA',
    ],
    (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
      b'68366580AI ',
      b'68366580AK ',
      b'68366580AM ',
    ],
    (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
      b'05190226AI',
      b'05190226AK',
      b'05190226AM',
@ -245,6 +232,7 @@ FW_VERSIONS = {
      b'68416680AE ',
      b'68416680AF ',
      b'68416680AG ',
+      b'68444228AC ',
      b'68444228AD ',
      b'68444228AE ',
      b'68444228AF ',
@ -402,6 +390,7 @@ FW_VERSIONS = {
      b'68294051AI',
      b'68294052AG',
      b'68294052AH',
+      b'68294059AI',
      b'68294063AG',
      b'68294063AH',
      b'68294063AI',
@ -412,6 +401,7 @@ FW_VERSIONS = {
      b'68434858AC',
      b'68434859AC',
      b'68434860AC',
+      b'68453471AD',
      b'68453483AC',
      b'68453483AD',
      b'68453487AD',
@ -436,11 +426,13 @@ FW_VERSIONS = {
      b'68527346AE',
      b'68527361AD',
      b'68527375AD',
+      b'68527381AD',
      b'68527381AE',
      b'68527382AE',
      b'68527383AD',
      b'68527383AE',
      b'68527387AE',
+      b'68527397AD',
      b'68527403AC',
      b'68527403AD',
      b'68546047AF',
@ -531,6 +523,7 @@ FW_VERSIONS = {
      b'05036066AE ',
      b'05036193AA ',
      b'05149368AA ',
+      b'05149374AA ',
      b'05149591AD ',
      b'05149591AE ',
      b'05149592AE ',
@ -561,6 +554,7 @@ FW_VERSIONS = {
      b'68455145AC ',
      b'68455145AE ',
      b'68455146AC ',
+      b'68460927AA ',
      b'68467915AC ',
      b'68467916AC ',
      b'68467936AC ',
@ -579,6 +573,7 @@ FW_VERSIONS = {
      b'68539650AF',
      b'68539651AD',
      b'68586101AA ',
+      b'68586102AA ',
      b'68586105AB ',
      b'68629919AC ',
      b'68629922AC ',
@ -617,6 +612,8 @@ FW_VERSIONS = {
      b'68520867AE',
      b'68520867AF',
      b'68520870AC',
+      b'68520871AC',
+      b'68528325AE',
      b'68540431AB',
      b'68540433AB',
      b'68551676AA',
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -40,8 +40,8 @@ class CarInterface(CarInterfaceBase):
        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value

    # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
-                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
+                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@ -39,7 +39,6 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)
-    self.CP = CP
    self.rcp = _create_radar_can_parser(CP.carFingerprint)
    self.updated_messages = set()
    self.trigger_msg = LAST_MSG
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -40,34 +40,30 @@ class ChryslerCarSpecs(CarSpecs):

 class CAR(Platforms):
  # Chrysler
-  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
  )
  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
  )
  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
  )
  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
    [
      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
    ],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
  )

  # Dodge
  DODGE_DURANGO = ChryslerPlatformConfig(
    [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
  )

  # Jeep
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@ -4,22 +4,13 @@ import time

 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car import make_tester_present_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog


-def make_tester_present_msg(addr, bus, subaddr=None):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
-
-
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
  # ISO-TP messages are always padded to 8 bytes
  # tester present response is always a single frame
  dat_offset = 1 if subaddr is not None else 0
@ -33,7 +24,7 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
  return False


-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
  queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
  responses = queries
@ -58,7 +49,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
            continue

          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
            if debug:
              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
              if (msg.address, subaddr, msg.src) in ecu_responses:
@ -94,7 +85,7 @@ if __name__ == "__main__":
  set_obd_multiplexing(params, not args.no_obd)

  print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)

  print()
  print("Found ECUs on rx addresses:")
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@ -130,7 +130,8 @@ MIGRATION = {

  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
  "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -5,10 +5,10 @@ from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX

 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+V_CRUISE_MAX = 145


 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.VM = VM
    self.packer = CANPacker(dbc_name)
    self.CAN = fordcan.CanBus(CP)
-    self.frame = 0

    self.apply_curvature_last = 0
    self.main_on_last = False
@ -92,6 +91,7 @@ class CarController(CarControllerBase):
      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
        gas = CarControllerParams.INACTIVE_GAS
      stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      # TODO: look into using the actuators packet to send the desired speed
      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))

    ### ui ###
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@ -112,7 +112,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
  }

  # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
+  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)

  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@ -20,12 +19,11 @@ MIN_STEER_MSG_INTERVAL_MS = 15

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.start_time = 0.
    self.apply_steer_last = 0
    self.apply_gas = 0
    self.apply_brake = 0
-    self.frame = 0
    self.last_steer_frame = 0
    self.last_button_frame = 0
    self.cancel_counter = 0
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -64,7 +64,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
    "GasRegenAlwaysOne3": 1,
  }

-  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
+  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
                               (((0xff - dat[2]) & 0xff) << 8) | \
                               ((0x100 - dat[3] - idx) & 0xff)
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -6,11 +6,10 @@ from panda import Panda

 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction

 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -5,13 +5,12 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import create_gas_interceptor_command
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit, HONDA_V_CRUISE_MIN
+from openpilot.selfdrive.controls.lib.drive_helpers import HONDA_V_CRUISE_MIN

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@ -110,11 +109,10 @@ def rate_limit_steer(new_steer, last_steer):

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.packer = CANPacker(dbc_name)
    self.params = CarControllerParams(CP)
    self.CAN = hondacan.CanBus(CP)
-    self.frame = 0

    self.braking = False
    self.brake_steady = 0.
@ -224,7 +222,7 @@ class CarController(CarControllerBase):
    # tester present - w/ no response (keeps radar disabled)
    if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
      if self.frame % 10 == 0:
-        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
+        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))

    # Send steering command.
    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@ -576,6 +576,7 @@ FW_VERSIONS = {
      b'28102-5MX-A900\x00\x00',
      b'28102-5MX-A910\x00\x00',
      b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C610\x00\x00',
      b'28102-5MX-C910\x00\x00',
      b'28102-5MX-D001\x00\x00',
      b'28102-5MX-D710\x00\x00',
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -3,9 +3,8 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR, LEGACY_SAFETY_MODE_CAR
@ -48,12 +47,11 @@ def process_hud_alert(enabled, fingerprint, hud_control):

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.CAN = CanBus(CP)
    self.params = CarControllerParams(CP)
    self.packer = CANPacker(dbc_name)
    self.angle_limit_counter = 0
-    self.frame = 0

    self.accel_last = 0
    self.apply_steer_last = 0
@ -195,11 +193,11 @@ class CarController(CarControllerBase):
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, self.CAN.ECAN
-      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))

      # for blinkers
      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
+        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))

    # CAN-FD platforms
    if self.CP.carFingerprint in CANFD_CAR:
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@ -171,6 +171,7 @@ FW_VERSIONS = {
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@ -291,6 +292,7 @@ FW_VERSIONS = {
      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
      b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
    ],
@ -407,6 +409,7 @@ FW_VERSIONS = {
      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
@ -480,11 +483,13 @@ FW_VERSIONS = {
  },
  CAR.GENESIS_G80: {
    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
      b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
      b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
@ -585,6 +590,7 @@ FW_VERSIONS = {
      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
    ],
@ -595,6 +601,7 @@ FW_VERSIONS = {
      b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
      b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
      b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
    ],
@ -705,6 +712,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
    ],
  },
@ -757,10 +765,12 @@ FW_VERSIONS = {
      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
    ],
    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
+      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
    ],
  },
  CAR.KIA_OPTIMA_G4_FL: {
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -81,7 +81,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
    # Genesis and Optima fault when forwarding while engaged
    values["CF_Lkas_LdwsActivemode"] = 2

-  dat = packer.make_can_msg("LKAS11", 0, values)[2]
+  dat = packer.make_can_msg("LKAS11", 0, values)[1]

  if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
    # CRC Checksum as seen on 2019 Hyundai Santa Fe
@ -166,7 +166,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
      scc12_values["CF_VSM_DecCmdAct"] = CS.escc_aeb_dec_cmd_act
      scc12_values["CR_VSM_DecCmd"] = CS.escc_aeb_dec_cmd

-  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
+  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1]
  scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10

  commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
@ -197,7 +197,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
        "FCA_DrvSetStatus": 1,
        "FCA_Status": 1,  # AEB disabled
      }
-    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1]
    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
    commands.append(packer.make_can_msg("FCA11", 0, fca11_values))

--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -18,14 +18,15 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG, \
+                                    ButtonEvents
 from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.pandad import can_capnp_to_list

 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@ -71,6 +72,7 @@ class LatControlInputs(NamedTuple):
  aego: float


+SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]


@ -260,7 +262,7 @@ class CarInterfaceBase(ABC):
    self.lat_torque_nn_model, _ = get_nn_model(_car, eps_firmware)
    return self.lat_torque_nn_model is not None and self.param_s.get_bool("NNFF")

-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
    return self.CC.update(c, self.CS, now_nanos)

  @staticmethod
@ -416,9 +418,10 @@ class CarInterfaceBase(ABC):

  def update(self, c: car.CarControl, can_strings: list[bytes], params_list: SimpleNamespace) -> car.CarState:
    # parse can
+    can_list = can_capnp_to_list(can_strings)
    for cp in self.can_parsers:
      if cp is not None:
-        cp.update_strings(can_strings)
+        cp.update_strings(can_list)

    self.CS.button_events = []
    self.CS.params_list = params_list
@ -730,6 +733,7 @@ class CarInterfaceBase(ABC):

 class RadarInterfaceBase(ABC):
  def __init__(self, CP):
+    self.CP = CP
    self.rcp = None
    self.pts = {}
    self.delay = 0
@ -867,12 +871,10 @@ class CarStateBase(ABC):
    return None


-SendCan = tuple[int, int, bytes, int]
-
-
 class CarControllerBase(ABC):
  def __init__(self, dbc_name: str, CP, VM):
-    pass
+    self.CP = CP
+    self.frame = 0

  @abstractmethod
  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -27,7 +27,7 @@ class IsoTpParallelQuery:
      assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"

    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)

  def rx(self):
    """Drain can socket and sort messages into buffers based on address"""
@ -36,11 +36,11 @@ class IsoTpParallelQuery:
    for packet in can_packets:
      for msg in packet.can:
        if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
+          self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src))

  def _can_tx(self, tx_addr, dat, bus):
    """Helper function to send single message"""
-    msg = [tx_addr, 0, dat, bus]
+    msg = [tx_addr, dat, bus]
    self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))

  def _can_rx(self, addr, sub_addr=None):
@ -53,7 +53,7 @@ class IsoTpParallelQuery:
      # Filter based on subadress
      msgs = []
      for m in self.msg_buffer[addr]:
-        first_byte = m[2][0]
+        first_byte = m[1][0]
        if first_byte == sub_addr:
          msgs.append(m)
        else:
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@ -16,11 +16,10 @@ ButtonType = car.CarState.ButtonEvent.Type

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.apply_steer_last = 0
    self.packer = CANPacker(dbc_name)
    self.brake_counter = 0
-    self.frame = 0

    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
    self.param_s = Params()
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@ -11,9 +11,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.car_fingerprint = CP.carFingerprint
-    self.frame = 0

    self.lkas_max_torque = 0
    self.apply_angle_last = 0
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@ -15,7 +15,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
    "LKA_ACTIVE": steer_on,
  }

-  dat = packer.make_can_msg("LKAS", 0, values)[2]
+  dat = packer.make_can_msg("LKAS", 0, values)[1]

  values["CHECKSUM"] = nissan_checksum(dat[:7])
  return packer.make_can_msg("LKAS", 0, values)
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@ -1,7 +1,7 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP
@ -17,9 +17,8 @@ _SNG_ACC_MAX_DIST = 4.5

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.apply_steer_last = 0
-    self.frame = 0

    self.cruise_button_prev = 0
    self.steer_rate_counter = 0
@ -151,7 +150,7 @@ class CarController(CarControllerBase):
      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
        # Tester present (keeps eyesight disabled)
        if self.frame % 100 == 0:
-          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+          can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True))

        # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
        if self.frame % 5 == 0:
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@ -284,7 +284,7 @@ def create_es_static_2(packer):
 # *** Subaru Pre-global ***

 def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
-  dat = packer.make_can_msg(addr, 0, values)[2]
+  dat = packer.make_can_msg(addr, 0, values)[1]
  return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256


--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@ -8,8 +8,7 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
-    self.frame = 0
+    super().__init__(dbc_name, CP, VM)
    self.apply_angle_last = 0
    self.packer = CANPacker(dbc_name)
    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)
-    self.CP = CP

    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
      messages = [('RadarStatus', 16)]
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@ -25,7 +25,7 @@ class TeslaCAN:
      "DAS_steeringControlCounter": counter,
    }

-    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
+    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1]
    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)

@ -69,7 +69,7 @@ class TeslaCAN:
      values["SpdCtrlLvr_Stat"] = 1
      values["MC_STW_ACTN_RQ"] = counter

-    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
+    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
    values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
    return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)

@ -88,7 +88,7 @@ class TeslaCAN:
    }

    for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
-      data = packer.make_can_msg("DAS_control", bus, values)[2]
+      data = packer.make_can_msg("DAS_control", bus, values)[1]
      values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
      messages.append(packer.make_can_msg("DAS_control", bus, values))
    return messages
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -39,7 +39,7 @@ routes = [

  CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
  CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -6,8 +6,7 @@ import importlib
 from parameterized import parameterized

 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
@ -16,6 +15,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator

 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
@ -133,7 +133,7 @@ class TestCarInterfaces:

    # Test radar fault
    if not car_params.radarUnavailable and radar_interface.rcp is not None:
-      cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
+      cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
      rr = radar_interface.update(cans)
      assert rr is None or len(rr.errors) > 0

--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -5,11 +5,13 @@ from collections import defaultdict
 from parameterized import parameterized

 from cereal import car
+from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
+from openpilot.selfdrive.pandad import can_list_to_can_capnp

 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@ -19,7 +21,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}

 class FakeSocket:
  def receive(self, non_blocking=False):
-    pass
+    return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
+            if random.uniform(0, 1) > 0.5 else None)

  def send(self, msg):
    pass
@ -313,3 +316,18 @@ class TestFwFingerprintTiming:
        total_time = round(total_times[num_pandas], 2)
        self._assert_timing(total_time, total_ref_time[num_pandas])
        print(f'all brands, total FW query time={total_time} seconds')
+
+  def test_get_fw_versions(self, subtests, mocker):
+    # some coverage on IsoTpParallelQuery and panda UDS library
+    # TODO: replace this with full fingerprint simulation testing
+    # https://github.com/commaai/panda/pull/1329
+
+    def fake_cloudlog_exception(*args, **kwargs):
+      raise
+
+    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
+    mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
+    fake_socket = FakeSocket()
+    for brand in FW_QUERY_CONFIGS.keys():
+      with subtests.test(brand=brand):
+        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1)
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@ -5,7 +5,7 @@ from parameterized import parameterized_class
 import pytest
 import sys

-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -12,14 +12,14 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@ -238,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
    error_cnt = 0
    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr = RI.update((msg.as_builder().to_bytes(),))
+      rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
      if rr is not None and i > 50:
        error_cnt += car.RadarData.Error.canError in rr.errors
    self.assertEqual(error_cnt, 0)
@ -298,7 +298,7 @@ class TestCarModelBase(unittest.TestCase):

        now_nanos += DT_CTRL * 1e9
        msgs_sent += len(sendcan)
-        for addr, _, dat, bus in sendcan:
+        for addr, dat, bus in sendcan:
          to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))

--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
 "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -1,8 +1,8 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
-                          create_gas_interceptor_command, make_can_msg
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg, \
+                                    create_gas_interceptor_command
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
@ -36,9 +36,8 @@ LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00"

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.params = CarControllerParams(self.CP)
-    self.frame = 0
    self.last_steer = 0
    self.last_angle = 0
    self.alert_active = False
@ -231,7 +230,7 @@ class CarController(CarControllerBase):

    # keep radar disabled
    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
+      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))

    if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 200:
      can_sends.extend(self.create_enhanced_bsm_messages(CS, 20, True))
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@ -4,9 +4,9 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@ -167,6 +167,7 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'F152606210\x00\x00\x00\x00\x00\x00',
      b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606260\x00\x00\x00\x00\x00\x00',
      b'F152606270\x00\x00\x00\x00\x00\x00',
      b'F152606290\x00\x00\x00\x00\x00\x00',
      b'F152606410\x00\x00\x00\x00\x00\x00',
@ -441,6 +442,7 @@ FW_VERSIONS = {
      b'\x01896630ZU8000\x00\x00\x00\x00',
      b'\x01896630ZU9000\x00\x00\x00\x00',
      b'\x01896630ZX4000\x00\x00\x00\x00',
+      b'\x01896630ZX7100\x00\x00\x00\x00',
      b'\x018966312L8000\x00\x00\x00\x00',
      b'\x018966312M0000\x00\x00\x00\x00',
      b'\x018966312M9000\x00\x00\x00\x00',
@ -516,6 +518,7 @@ FW_VERSIONS = {
      b'\x018965B1254000\x00\x00\x00\x00',
      b'\x018965B1255000\x00\x00\x00\x00',
      b'\x018965B1256000\x00\x00\x00\x00',
+      b'\x018965B1270000\x00\x00\x00\x00',
      b'8965B12361\x00\x00\x00\x00\x00\x00',
      b'8965B12451\x00\x00\x00\x00\x00\x00',
      b'8965B16011\x00\x00\x00\x00\x00\x00',
@ -647,6 +650,7 @@ FW_VERSIONS = {
    (Ecu.dsu, 0x791, None): [
      b'881510E01100\x00\x00\x00\x00',
      b'881510E01200\x00\x00\x00\x00',
+      b'881510E02100\x00\x00\x00\x00',
      b'881510E02200\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
@ -1149,6 +1153,7 @@ FW_VERSIONS = {
  },
  CAR.TOYOTA_RAV4_TSS2_2023: {
    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R440\x00\x00\x00\x00\x00\x00',
      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
      b'\x01F15260R50000\x00\x00\x00\x00',
      b'\x01F15260R51000\x00\x00\x00\x00',
@ -1170,6 +1175,7 @@ FW_VERSIONS = {
      b'\x01896634AE1001\x00\x00\x00\x00',
      b'\x01896634AF0000\x00\x00\x00\x00',
      b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AJ3000\x00\x00\x00\x00',
      b'\x01896634AL5000\x00\x00\x00\x00',
      b'\x01896634AL6000\x00\x00\x00\x00',
      b'\x01896634AL8000\x00\x00\x00\x00',
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@ -4,8 +4,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
@ -18,7 +17,7 @@ ButtonType = car.CarState.ButtonEvent.Type

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
    self.CCP = CarControllerParams(CP)
    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
    self.packer_pt = CANPacker(dbc_name)
@ -26,7 +25,6 @@ class CarController(CarControllerBase):

    self.apply_steer_last = 0
    self.gra_acc_counter_last = None
-    self.frame = 0
    self.eps_timer_soft_disable_alert = False
    self.hca_frame_timer_running = 0
    self.hca_frame_same_torque = 0
--- a/Show More
+++ b/Show More
				`@ -1 +0,0 @@`
				`Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72`
				`@ -1 +0,0 @@`
				`Subproject commit adc1fffe60c7f503a252969c112c991f6fcaa37e`
				`@ -0,0 +1 @@`
				`Subproject commit d3cdde5f19d87a2853874b3fa1c5c5e277d9d7f8`