wip

2024-04-27 13:01:58 -05:00
parent 38ae44ed4e
commit fe5f722eda
29 changed files with 8901 additions and 28 deletions
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,15 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
+RUN pip install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma
--- a/.devcontainer/container_post_start.sh
+++ b/.devcontainer/container_post_start.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,51 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}
--- a/.devcontainer/host_setup
+++ b/.devcontainer/host_setup
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
--- a/.devcontainer/host_setup.cmd
+++ b/.devcontainer/host_setup.cmd
@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
--- a/.dockerignore
+++ b/.dockerignore
@@ -0,0 +1,39 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+venv/
+.venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk
--- a/.editorconfig
+++ b/.editorconfig
@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[{*.py, *.pyx, *.pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2
--- a/.gitignore
+++ b/.gitignore
@@ -10,7 +10,6 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,103 @@
+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: v4.5.0
+    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)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        args:
+        - --maxkb=120
+        - --enforce-all
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.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
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.3.2
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(cereal/)|(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/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(cereal/)|(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
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(cereal/)|(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: v0.16.0
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(cereal/)|(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: selfdrive/ui/tests/test_translations.py
+        language: script
+        pass_filenames: false
+        files: 'selfdrive/ui/translations/*'
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.8.0'
+    hooks:
+    -   id: poetry-check
+        name: validate poetry lock
+        args:
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.0
+    hooks:
+    -   id: check-github-workflows
--- a/.python-version
+++ b/.python-version
@@ -0,0 +1 @@
+3.11.4
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+  "files.exclude": {
+    "selfdrive/": true,
+    "tools/": true
+  },
+  "search.exclude": {
+    "selfdrive/": true,
+    "tools/": true
+  }
+}
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -0,0 +1,28 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED 1
+
+ENV OPENPILOT_PATH /home/batman/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY SConstruct ${OPENPILOT_PATH}
+
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
+
+RUN scons --cache-readonly -j$(nproc)
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -0,0 +1,86 @@
+FROM ubuntu:20.04
+
+ENV PYTHONUNBUFFERED 1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN cd /tmp && \
+    tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /tmp/* && \
+    # remove unused architectures from gcc for panda
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ && \
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV PYENV_VERSION=3.11.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+
+RUN cd /tmp && \
+    tools/install_python_dependencies.sh && \
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache && \
+    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
+    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/252
+++ b/252
@@ -0,0 +1,252 @@
+def retryWithDelay(int maxRetries, int delay, Closure body) {
+  for (int i = 0; i < maxRetries; i++) {
+    try {
+      return body()
+    } catch (Exception e) {
+      sleep(delay)
+    }
+  }
+  throw Exception("Failed after ${maxRetries} retries")
+}
+
+def device(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+shopt -s huponexit # kill all child processes when the shell exits
+
+export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+# only use 1 thread for tici tests since most require HIL
+export PYTEST_ADDOPTS="-n 0"
+
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+
+  rm -rf /tmp/tmp*
+  rm -rf ~/.commacache
+  rm -rf /dev/shm/*
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = extra_env.collect { "export ${it}" }.join('\n');
+    def branch = env.BRANCH_NAME ?: 'master';
+
+    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+        timeout(time: 20, unit: 'MINUTES') {
+          retry (3) {
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
+      }
+    }
+  }
+}
+
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+
+    def openpilot_base = retryWithDelay (3, 15) {
+      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    }
+
+    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+      openpilot_base.inside(dockerArgs) {
+        timeout(time: 20, unit: 'MINUTES') {
+          try {
+            retryWithDelay (3, 15) {
+              sh "git config --global --add safe.directory '*'"
+              sh "git submodule update --init --recursive"
+              sh "git lfs pull"
+            }
+            body()
+          } finally {
+              sh "rm -rf ${env.WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+      }
+    }
+  }
+}
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", [], [
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+        ])
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}
--- a/README.md
+++ b/README.md
@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:

-**March 29th, 2024**
+**May 1st, 2024**

 Features
 ------
@@ -31,17 +31,17 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
 ------
 ⚡ **Advanced Customizations:**

-  - Adjust the max set speed in increments of 5 or more on short presses
-  - "Alert Volume Controller" to customize the volume level for all of openpilot's sound files
+  - "Alert Volume Controller" to set the volume level for each of of openpilot's sounds
  - Customize the following distance and jerk values for each personality profile
-  - Increase the stopping distance behind stopped cars
-  - Select between various openpilot driving models
-  - Set a custom "Steer Ratio" to fine tune your lateral control
+  - Fine tune your car's "Steer Ratio" to perfect your lateral control
+  - Increase the distance when stopped behind lead vehicles
+  - Increase the max set speed by a custom interval (i.e. 2, 3, 4, 5, 6, etc. instead of just 1)
+  - Select between past, present, and future openpilot driving models
 ------
 🎨 **Custom Themes:**

  - 🐸 Frog theme (with a bonus 🐐 sound effect)
-  - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="20" height="18"> Russia / Joseph Stalin theme
+  - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="15" height="12"> Russia / Joseph Stalin theme
  - 🔌 Tesla theme
  - Holiday themes! Minor holidays last a day, while major holidays (Easter, Halloween, Thanksgiving, Christmas) last a week
  - Random events triggered by specific actions while driving with openpilot
@@ -51,10 +51,10 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
 🚀 **Conditional Experimental Mode:**

  - Auto-activates "Experimental Mode" under several conditions, including:
+    - Approaching intersections and turns while using navigation
    - Approaching slower vehicles to take advantage of "Experimental Mode"'s smoother braking
    - Curve and stop light/stop sign detection
    - Driving below a set speed
-    - Prepare for upcoming intersections and turns while using navigation
    - Turn signal activation below 55mph for turn assistance
 ------
 📊 **Developer UI:**
@@ -67,32 +67,33 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
 🛠 **Device Management:**

  - Adjustable screen brightness for both onroad and offroad states
-  - Adjustable screen timeout threshold for both onroad and offroad states
-  - Backup and restore previous versions of FrogPilot versions
+  - Adjustable screen timeout times for both onroad and offroad states
+  - Backup and restore previous versions of FrogPilot
  - Backup and restore previous versions of toggle configurations
+  - Battery level threshold to automatically shut the device down after you car's battery falls below a set voltage limit when offroad
  - Delete stored driving data for increased privacy/space via the "Device" panel
  - Device can operate offline indefinitely
  - Disable logging and/or uploading
  - Disable uploads while onroad to help reduce data usage
-  - Easy Panda firmware flashing via a "Flash Panda" button in the "Device" menu
-  - Set a battery level threshold to automatically shut the device down after you car's battery falls below a specific voltage when offroad
-  - Set a timer to automatically shut the device down after going offroad to help prevent battery drain
-  - "Standby Mode" that wakes up the screen between engagement states or when important alerts are triggered
+  - Flash the Panda within the "Device" menu
+  - "Standby Mode" that wakes the screen up between engagement states or when important alerts are triggered
+  - Timer to automatically shut down after going offroad
 ------
 🚖 **Lateral Adjustments:**

  - Activate lateral control by simply pressing the "Cruise Control" button
-  - Force comma's auto tuning for smoother steering control
+  - Force comma's auto tuning for unsupported vehicles
  - Lateral control won't disengage on gas or brake
  - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad
  - Pause lateral control when below a set speed
+  - Pause lateral control when pressing the brake
  - Pause lateral control when turn signals are active
-  - Precise turns using turn desires when below the minimum lane change speed
+  - Precise turns by using turn desires when below the minimum lane change speed
  - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for smoother steering control
 ------
 🚘 **Longitudinal Adjustments:**

-  - Aggressive acceleration following a lead vehicle from a stop
+  - Aggressive acceleration when following a lead vehicle from a stop
  - "Map Turn Speed Controller" to slow down for curves based on stored map data
    - With an additional toggle to fine tune the speed aggressiveness
  - Smoother braking behind slower leads
@@ -119,10 +120,10 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
  - Compass that rotates according to the direction you're driving
  - FPS counter in the screen's border
  - Hide various UI elements on the screen for a cleaner UI
-  - Pedals on the onroad UI that indicate when the gas/brake pedals are being used
+  - Pedals on the onroad UI indicate when the gas/brake pedals are being used
  - Road UI Customizations:
    - Acceleration path to show the model's desired acceleration/deceleration
-    - Blind spot path to indicate when and where a vehicle is in your blind spot
+    - Blind spot path when a vehicle is detected in your blind spot
    - Increase/decrease the lane line, path, and road edge widths
    - Path edge colors based on specific driving statuses:
      - 🔵 Blue - Navigation active
@@ -150,12 +151,14 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
  - openpilot longitudinal control for GM vehicles without ACC
  - Pedal interceptor support for GM vehicles
  - "Stop and Go" hack for Toyota's without stop and go functionality
-  - ZSS support for the Toyota Prius
+  - ZSS support for the Toyota Prius and Sienna
 ------
 🚦 **Quality of Life Features:**

-  - Camera view selection (cosmetic only)
-  - Custom alerts such as for a green light, vehicle in blindspot, lead departing, and the current speed limit changing
+  - Automatic updates for a completely "set and forget" experience
+  - Camera view selection
+  - Custom alerts for green lights, vehicles in blindspot, lead departing, and the current speed limit changing
+  - Display the driver camera when in reverse
  - Driving statistics to show how many hours and miles you've driven on the home screen
  - Fleet Manager to easily access your driving data and screen recordings
  - Numerical temperature gauge
@@ -198,17 +201,12 @@ Credits
 * [DragonPilot](https://github.com/dragonpilot-community)
 * [ErichMoraga](https://github.com/ErichMoraga)
 * [Garrettpall](https://github.com/garrettpall)
-* [Henrycc](https://github.com/henryccy)
-* [KRKeegan](https://github.com/krkeegan)
 * [Mike8643](https://github.com/mike8643)
-* [Move-Fast](https://github.com/move-fast)
 * [Neokii](https://github.com/Neokii)
 * [OPGM](https://github.com/opgm)
 * [OPKR](https://github.com/openpilotkr)
 * [Pfeiferj](https://github.com/pfeiferj)
 * [ServerDummy](https://github.com/ServerDummy)
-* [Sunnyhaibin](https://github.com/sunnyhaibin)
-* [Thinkpad4by3](https://github.com/Thinkpad4by3)
 * [Twilsonco](https://github.com/twilsonco)

 Licensing
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+
 Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
@@ -6,6 +12,9 @@ Version 0.9.6 (2024-02-27)
  * Directly outputs curvature for lateral control
 * New driver monitoring model
  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
--- a/SECURITY.md
+++ b/SECURITY.md
@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
--- a/body/crypto/hash-internal.h
+++ b/body/crypto/hash-internal.h
@@ -0,0 +1,63 @@
+/*
+ * Copyright 2007 The Android Open Source Project
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Google Inc. nor the names of its contributors may
+ *       be used to endorse or promote products derived from this software
+ *       without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+ * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_
+#define SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_
+
+#include "stdint.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+struct HASH_CTX;  // forward decl
+
+typedef struct HASH_VTAB {
+  void (* const init)(struct HASH_CTX*);
+  void (* const update)(struct HASH_CTX*, const void*, int);
+  const uint8_t* (* const final)(struct HASH_CTX*);
+  const uint8_t* (* const hash)(const void*, int, uint8_t*);
+  int size;
+} HASH_VTAB;
+
+typedef struct HASH_CTX {
+  const HASH_VTAB * f;
+  uint64_t count;
+  uint8_t buf[64];
+  uint32_t state[8];  // upto SHA2
+} HASH_CTX;
+
+#define HASH_init(ctx) (ctx)->f->init(ctx)
+#define HASH_update(ctx, data, len) (ctx)->f->update(ctx, data, len)
+#define HASH_final(ctx) (ctx)->f->final(ctx)
+#define HASH_hash(data, len, digest) (ctx)->f->hash(data, len, digest)
+#define HASH_size(ctx) (ctx)->f->size
+
+#ifdef __cplusplus
+}
+#endif  // __cplusplus
+
+#endif  // SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_
--- a/body/crypto/rsa.h
+++ b/body/crypto/rsa.h
@@ -0,0 +1,58 @@
+/* rsa.h
+**
+** Copyright 2008, The Android Open Source Project
+**
+** Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are met:
+**     * Redistributions of source code must retain the above copyright
+**       notice, this list of conditions and the following disclaimer.
+**     * Redistributions in binary form must reproduce the above copyright
+**       notice, this list of conditions and the following disclaimer in the
+**       documentation and/or other materials provided with the distribution.
+**     * Neither the name of Google Inc. nor the names of its contributors may
+**       be used to endorse or promote products derived from this software
+**       without specific prior written permission.
+**
+** THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
+** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+** MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+** EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+** PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+** OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+** WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+** OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+** ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_
+#define SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_
+
+#include "stdint.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define RSANUMBYTES 128           /* 1024 bit key length */
+#define RSANUMWORDS (RSANUMBYTES / sizeof(uint32_t))
+
+typedef struct RSAPublicKey {
+    int len;                  /* Length of n[] in number of uint32_t */
+    uint32_t n0inv;           /* -1 / n[0] mod 2^32 */
+    uint32_t n[RSANUMWORDS];  /* modulus as little endian array */
+    uint32_t rr[RSANUMWORDS]; /* R^2 as little endian array */
+    int exponent;             /* 3 or 65537 */
+} RSAPublicKey;
+
+int RSA_verify(const RSAPublicKey *key,
+               const uint8_t* signature,
+               const int len,
+               const uint8_t* hash,
+               const int hash_len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_
--- a/body/crypto/sha.h
+++ b/body/crypto/sha.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright 2005 The Android Open Source Project
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Google Inc. nor the names of its contributors may
+ *       be used to endorse or promote products derived from this software
+ *       without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+ * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_
+#define SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_
+
+#include "hash-internal.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
+typedef HASH_CTX SHA_CTX;
+
+void SHA_init(SHA_CTX* ctx);
+void SHA_update(SHA_CTX* ctx, const void* data, int len);
+const uint8_t* SHA_final(SHA_CTX* ctx);
+
+// Convenience method. Returns digest address.
+// NOTE: *digest needs to hold SHA_DIGEST_SIZE bytes.
+const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest);
+
+#define SHA_DIGEST_SIZE 20
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+
+#endif  // SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_
--- a/body/crypto/stdint.h
+++ b/body/crypto/stdint.h
@@ -0,0 +1,4 @@
+#define uint8_t unsigned char
+#define uint32_t unsigned int
+#define int64_t long long
+#define uint64_t unsigned long long
--- a/codecov.yml
+++ b/codecov.yml
@@ -0,0 +1,13 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
+ignore:
+  - "**/test_*.py"
+  - "selfdrive/test/**"
+  - "system/version.py" # codecov changes depending on if we are in a branch or not
+  - "tools"
--- a/conftest.py
+++ b/conftest.py
@@ -0,0 +1,100 @@
+import contextlib
+import gc
+import os
+import pytest
+import random
+
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.manager import manager
+from openpilot.system.hardware import TICI, HARDWARE
+
+
+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
+@pytest.hookimpl(hookwrapper=True, trylast=True)
+def pytest_runtest_call(item):
+  # ensure we run as a hook after capturemanager's
+  if item.get_closest_marker("nocapture") is not None:
+    capmanager = item.config.pluginmanager.getplugin("capturemanager")
+    with capmanager.global_and_fixture_disabled():
+      yield
+  else:
+    yield
+
+
+@contextlib.contextmanager
+def clean_env():
+  starting_env = dict(os.environ)
+  yield
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture(request):
+  random.seed(0)
+
+  with clean_env():
+    # setup a clean environment for each test
+    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
+      prefix = os.environ["OPENPILOT_PREFIX"]
+
+      yield
+
+      # ensure the test doesn't change the prefix
+      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+
+    # cleanup any started processes
+    manager.manager_cleanup()
+
+    # some processes disable gc for performance, re-enable here
+    if not gc.isenabled():
+      gc.enable()
+      gc.collect()
+
+# If you use setUpClass, the environment variables won't be cleared properly,
+# so we need to hook both the function and class pytest fixtures
+@pytest.fixture(scope="class", autouse=True)
+def openpilot_class_fixture():
+  with clean_env():
+    yield
+
+
+@pytest.fixture(scope="function")
+def tici_setup_fixture(openpilot_function_fixture):
+  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
+  HARDWARE.initialize_hardware()
+  HARDWARE.set_power_save(False)
+  os.system("pkill -9 -f athena")
+
+
+@pytest.hookimpl(tryfirst=True)
+def pytest_collection_modifyitems(config, items):
+  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
+  for item in items:
+    if "tici" in item.keywords:
+      if not TICI:
+        item.add_marker(skipper)
+      else:
+        item.fixturenames.append('tici_setup_fixture')
+
+    if "xdist_group_class_property" in item.keywords:
+      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
+      class_property_value = getattr(item.cls, class_property_name)
+      item.add_marker(pytest.mark.xdist_group(class_property_value))
+
+
+@pytest.hookimpl(trylast=True)
+def pytest_configure(config):
+  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "nocapture: don't capture test output"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "shared_download_cache: share download cache between tests"
+  config.addinivalue_line("markers", config_line)
--- a/poetry.lock
+++ b/poetry.lock
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,6 +21,7 @@ testpaths = [
  "selfdrive/thermald",
  "selfdrive/test/longitudinal_maneuvers",
  "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive/updated",
  "system/camerad",
  "system/hardware/tici",
  "system/loggerd",
@@ -63,6 +64,9 @@ warn_unused_ignores=true
 # restrict dynamic typing
 warn_return_any=true

+# allow implicit optionals for default args
+implicit_optional = true
+

 [tool.poetry]
 name = "openpilot"
@@ -167,11 +171,14 @@ build-backend = "poetry.core.masonry.api"

 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
+indent-width = 2
 lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
  "panda",
  "opendbc",
  "rednose_repo",
@@ -187,6 +194,9 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 "system".msg = "Use openpilot.system"
 "third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
+"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"

 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+[tool.ruff.format]
+quote-style = "preserve"
--- a/1
+++ b/1
@@ -0,0 +1 @@
+tinygrad_repo/tinygrad