From 1794c9854521169159602831d403a6446489f6fc Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 8 Jan 2026 15:37:05 -0800
Subject: [PATCH 001/117] Opendbc replay (#6)

* add replay POC

* compare HEAD to master

* split in compare and worker

* copy worker.py

* cleanup

* fix

* apply tesla brake PR

* fix

* fix mutation test

* add panda

* add timestamps

* simplify

* add falling edge

* add remaining carstate

* simple lines

* bump

* rename

* use zst as ref

* ref commit

* cleanup

* formatting

* no failing

* fix git

* clean

* use pool.map

* fix docker build

* clean

* Revert "fix docker build"

This reverts commit da3577441eaa4b7fdc5763f73e779dd32c03a3c3.

* use flat paths

* format

* use azure test instance

* print full diff

* no stderr output

* use GIT_REF

* Revert "apply tesla brake PR"

This reverts commit f377e21f3865c574db5d618be20b4efa86fba66f.

* allow overwrite blobs

* supress stderr
---
 .github/workflows/tests.yml            |  35 +++++++-
 opendbc/car/tests/replay/__init__.py   |   0
 opendbc/car/tests/replay/car_replay.py | 111 +++++++++++++++++++++++++
 opendbc/car/tests/replay/worker.py     | 101 ++++++++++++++++++++++
 opendbc/safety/tests/test_tesla.py     |  14 ++++
 5 files changed, 260 insertions(+), 1 deletion(-)
 create mode 100644 opendbc/car/tests/replay/__init__.py
 create mode 100644 opendbc/car/tests/replay/car_replay.py
 create mode 100644 opendbc/car/tests/replay/worker.py

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 6f04f489d35..8a12a885f5d 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -60,7 +60,40 @@ jobs:
           scons -j8
           cd opendbc/safety/tests && ./mutation.sh
 
-  # TODO: this test needs to move to opendbc
+  car_replay:
+    name: car replay
+    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      BASE_IMAGE: openpilot-base
+      GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
+      RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONPATH=/tmp/openpilot -e AZURE_TOKEN=$AZURE_TOKEN -e GIT_REF=$GIT_REF -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/bash -c
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        repository: 'commaai/openpilot'
+        ref: 'master'
+        submodules: true
+    - run: rm -rf opendbc_repo/
+    - uses: actions/checkout@v4
+      with:
+        path: opendbc_repo
+        fetch-depth: 0
+    - run: cd opendbc_repo && git fetch origin master
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build docker
+      run: selfdrive/test/docker_build.sh base
+    - name: Build
+      run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
+    - name: Test
+      if: github.event_name == 'pull_request'
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py 2>/dev/null"
+    - name: Update refs
+      if: github.ref == 'refs/heads/master'
+      env:
+        AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --update-refs 2>/dev/null"
+
+  # TODO: this needs to move to opendbc
   test_models:
     name: test models
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
diff --git a/opendbc/car/tests/replay/__init__.py b/opendbc/car/tests/replay/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
new file mode 100644
index 00000000000..721b8f52e7a
--- /dev/null
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import re
+import requests
+import sys
+import tempfile
+from collections import defaultdict
+from concurrent.futures import ProcessPoolExecutor
+from pathlib import Path
+
+
+def get_changed_platforms(cwd, database):
+  from openpilot.common.utils import run_cmd
+  git_ref = os.environ.get("GIT_REF", "origin/master")
+  changed = run_cmd(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd)
+  brands = set()
+  for line in changed.splitlines():
+    if m := re.search(r"opendbc/car/(\w+)/", line):
+      brands.add(m.group(1))
+    if m := re.search(r"opendbc/dbc/(\w+?)_", line):
+      brands.add(m.group(1).lower())
+  return [p for p in database if any(b.upper() in p for b in brands)]
+
+
+def download_refs(ref_path, platforms, segments):
+  BASE_URL = "https://elkoled.blob.core.windows.net/openpilotci/"
+  for platform in platforms:
+    for seg in segments.get(platform, []):
+      filename = f"{platform}_{seg.replace('/', '_')}.zst"
+      resp = requests.get(f"{BASE_URL}car_replay/{filename}")
+      if resp.status_code == 200:
+        (Path(ref_path) / filename).write_bytes(resp.content)
+
+
+def upload_refs(ref_path, platforms, segments):
+  from openpilot.tools.lib.azure_container import AzureContainer
+  container = AzureContainer("elkoled", "openpilotci")
+  for platform in platforms:
+    for seg in segments.get(platform, []):
+      filename = f"{platform}_{seg.replace('/', '_')}.zst"
+      local_path = Path(ref_path) / filename
+      if local_path.exists():
+        container.upload_file(str(local_path), f"car_replay/{filename}", overwrite=True)
+
+
+def format_diff(diffs):
+  return [f"    {d[1]}: {d[2]} → {d[3]}" for d in diffs]
+
+
+def run_replay(platforms, segments, ref_path, update, workers=8):
+  from opendbc.car.tests.replay.worker import process_segment
+  work = [(platform, seg, ref_path, update)
+          for platform in platforms for seg in segments.get(platform, [])]
+  with ProcessPoolExecutor(max_workers=workers) as pool:
+    return list(pool.map(process_segment, work))
+
+
+def main(platform=None, segments_per_platform=10, update_refs=False):
+  from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
+
+  cwd = Path(__file__).resolve().parents[4]
+  ref_path = tempfile.mkdtemp(prefix="car_ref_")
+  database = get_comma_car_segments_database()
+  platforms = [platform] if platform else get_changed_platforms(cwd, database)
+
+  if not platforms:
+    print("No platforms detected from changes")
+    return 0
+
+  segments = {p: database.get(p, [])[:segments_per_platform] for p in platforms}
+  n_segments = sum(len(s) for s in segments.values())
+  print(f"{'Generating' if update_refs else 'Testing'} {n_segments} segments for: {', '.join(platforms)}")
+
+  if update_refs:
+    run_replay(platforms, segments, ref_path, update=True)
+    upload_refs(ref_path, platforms, segments)
+    return 0
+
+  download_refs(ref_path, platforms, segments)
+  results = run_replay(platforms, segments, ref_path, update=False)
+
+  with_diffs = [(p, s, d) for p, s, d, e in results if d]
+  errors = [(p, s, e) for p, s, d, e in results if e]
+  n_passed = len(results) - len(with_diffs) - len(errors)
+
+  print(f"\nResults: {n_passed} passed, {len(with_diffs)} with diffs, {len(errors)} errors")
+
+  for plat, seg, err in errors:
+    print(f"\nERROR {plat} - {seg}: {err}")
+
+  for plat, seg, diffs in with_diffs:
+    print(f"\n{plat} - {seg}")
+    by_field = defaultdict(list)
+    for d in diffs:
+      by_field[d[0]].append(d)
+    for field, fd in sorted(by_field.items()):
+      print(f"  {field} (frame: master → PR)")
+      for line in format_diff(fd):
+        print(line)
+
+  return 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--platform")
+  parser.add_argument("--segments-per-platform", type=int, default=10)
+  parser.add_argument("--update-refs", action="store_true")
+  args = parser.parse_args()
+  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs))
diff --git a/opendbc/car/tests/replay/worker.py b/opendbc/car/tests/replay/worker.py
new file mode 100644
index 00000000000..4f27532fd9a
--- /dev/null
+++ b/opendbc/car/tests/replay/worker.py
@@ -0,0 +1,101 @@
+import pickle
+import zstandard as zstd
+from pathlib import Path
+
+CARSTATE_FIELDS = [
+  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
+  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
+  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
+  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
+  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
+  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
+  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
+  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
+  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
+  "canValid", "canTimeout",
+]
+
+
+def get_value(obj, field):
+  for p in field.split("."):
+    obj = getattr(obj, p, None)
+  return obj.raw if hasattr(obj, "raw") else obj
+
+
+def differs(v1, v2):
+  if isinstance(v1, float) and isinstance(v2, float):
+    return abs(v1 - v2) > 1e-3
+  return v1 != v2
+
+
+def save_ref(path, states, timestamps):
+  data = list(zip(timestamps, states, strict=True))
+  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
+
+
+def load_ref(path):
+  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
+
+
+def load_can_messages(seg):
+  from opendbc.car.can_definitions import CanData
+  from openpilot.selfdrive.pandad import can_capnp_to_list
+  from openpilot.tools.lib.logreader import _LogFileReader
+  from openpilot.tools.lib.comma_car_segments import get_url
+
+  parts = seg.split("/")
+  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
+
+  can_msgs = []
+  for msg in _LogFileReader(url):
+    if msg.which() == "can":
+      ts, data = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+      can_msgs.append((ts, [CanData(*x) for x in data]))
+  return can_msgs
+
+
+def replay_segment(platform, can_msgs):
+  from opendbc.car import gen_empty_fingerprint, structs
+  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+
+  fingerprint = gen_empty_fingerprint()
+  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
+    for msg in frames:
+      if msg.src < 64:
+        fingerprint[msg.src][msg.address] = len(msg.dat)
+
+  CarInterface = interfaces[platform]
+  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
+  car_control = structs.CarControl().as_reader()
+
+  states = []
+  timestamps = []
+  for ts, frames in can_msgs:
+    states.append(car_interface.update([(ts, frames)]))
+    car_interface.apply(car_control, ts)
+    timestamps.append(ts)
+  return states, timestamps
+
+
+def process_segment(args):
+  platform, seg, ref_path, update = args
+  try:
+    can_msgs = load_can_messages(seg)
+    states, timestamps = replay_segment(platform, can_msgs)
+    ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
+
+    if update:
+      save_ref(ref_file, states, timestamps)
+      return (platform, seg, [], None)
+
+    if not ref_file.exists():
+      return (platform, seg, [], "no ref")
+
+    ref = load_ref(ref_file)
+    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
+             for field in CARSTATE_FIELDS
+             if differs(get_value(state, field), get_value(ref_state, field))]
+    return (platform, seg, diffs, None)
+  except Exception as e:
+    return (platform, seg, [], str(e))
diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index 52390f81aa8..bd9c85a3b6c 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -165,6 +165,20 @@ def test_rx_hook(self):
         self.assertEqual(should_rx, self._rx(msg))
         self.assertEqual(should_rx, self.safety.get_controls_allowed())
 
+  def test_checksum(self):
+    msgs = [
+      self._speed_msg(0),
+      self._user_gas_msg(0),
+      self._user_brake_msg(False),
+      self._pcm_status_msg(False),
+      self.packer.make_can_msg_safety("UI_warning", 0, {}),
+    ]
+    for msg in msgs:
+      self.assertTrue(self._rx(msg))
+      # invalidate checksum
+      msg[0].data[0] = (msg[0].data[0] + 1) & 0xFF
+      self.assertFalse(self._rx(msg))
+
   def test_vehicle_speed_measurements(self):
     # OVERRIDDEN: 79.1667 is the max speed in m/s
     self._common_measurement_test(self._speed_msg, 0, 285 / 3.6, 1,

From 066d6ad577c5cb9048035b1213861904e4cb3bf6 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 8 Jan 2026 18:52:14 -0800
Subject: [PATCH 002/117] add error on failed generation (#8)

---
 opendbc/car/tests/replay/car_replay.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 721b8f52e7a..ab4be710e79 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -73,7 +73,9 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   print(f"{'Generating' if update_refs else 'Testing'} {n_segments} segments for: {', '.join(platforms)}")
 
   if update_refs:
-    run_replay(platforms, segments, ref_path, update=True)
+    results = run_replay(platforms, segments, ref_path, update=True)
+    errors = [e for _, _, _, e in results if e]
+    assert len(errors) == 0, f"Segment failures: {errors}"
     upload_refs(ref_path, platforms, segments)
     return 0
 

From d3015fd48bd768c617adfd1e2312788679957b24 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 14:39:58 -0800
Subject: [PATCH 003/117] Opendbc replay (#129)

* add replay POC

* compare HEAD to master

* split in compare and worker

* copy worker.py

* cleanup

* fix

* apply tesla brake PR

* fix

* fix mutation test

* add panda

* add timestamps

* simplify

* add falling edge

* add remaining carstate

* simple lines

* bump

* rename

* use zst as ref

* ref commit

* cleanup

* formatting

* no failing

* fix git

* clean

* use pool.map

* fix docker build

* clean

* Revert "fix docker build"

This reverts commit da3577441eaa4b7fdc5763f73e779dd32c03a3c3.

* use flat paths

* format

* use azure test instance

* print full diff

* no stderr output

* use GIT_REF

* Revert "apply tesla brake PR"

This reverts commit f377e21f3865c574db5d618be20b4efa86fba66f.

* allow overwrite blobs

* supress stderr

* print upload refs

* add error on failed generation

* Revert "use azure test instance"

This reverts commit ba969ccda452a4841934440d3ced22829861f70f.

* Revert "fix mutation test"

This reverts commit 8f5e01de7743ee38c340df90751cf370634fe2b2.

* detect safety changes

* use logReader

* only use valid platforms

* use local database

* Revert "use local database"

This reverts commit 4ebe9fe0800fb1631efe8672817a8c21b8780b65.

* Reapply "use azure test instance"

This reverts commit e9968a04e4ddee00b69174fd30ee1cdcdfa506fb.
---
 opendbc/car/tests/replay/car_replay.py |  8 ++++++--
 opendbc/car/tests/replay/worker.py     | 12 +++++++-----
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index ab4be710e79..0b99ac3e34b 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -20,7 +20,9 @@ def get_changed_platforms(cwd, database):
       brands.add(m.group(1))
     if m := re.search(r"opendbc/dbc/(\w+?)_", line):
       brands.add(m.group(1).lower())
-  return [p for p in database if any(b.upper() in p for b in brands)]
+    if m := re.search(r"opendbc/safety/modes/(\w+?)[_.]", line):
+      brands.add(m.group(1).lower())
+  return [p for p in interfaces if any(b.upper() in p for b in brands) and p in database]
 
 
 def download_refs(ref_path, platforms, segments):
@@ -57,12 +59,13 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
 
 
 def main(platform=None, segments_per_platform=10, update_refs=False):
+  from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
   cwd = Path(__file__).resolve().parents[4]
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
-  platforms = [platform] if platform else get_changed_platforms(cwd, database)
+  platforms = [platform] if platform and platform in interfaces else get_changed_platforms(cwd, database)
 
   if not platforms:
     print("No platforms detected from changes")
@@ -77,6 +80,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
     errors = [e for _, _, _, e in results if e]
     assert len(errors) == 0, f"Segment failures: {errors}"
     upload_refs(ref_path, platforms, segments)
+    print(f"Uploaded {n_segments} refs")
     return 0
 
   download_refs(ref_path, platforms, segments)
diff --git a/opendbc/car/tests/replay/worker.py b/opendbc/car/tests/replay/worker.py
index 4f27532fd9a..41ebd7241d9 100644
--- a/opendbc/car/tests/replay/worker.py
+++ b/opendbc/car/tests/replay/worker.py
@@ -2,6 +2,8 @@
 import zstandard as zstd
 from pathlib import Path
 
+TOLERANCE = 1e-3
+
 CARSTATE_FIELDS = [
   "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
   "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
@@ -24,7 +26,7 @@ def get_value(obj, field):
 
 def differs(v1, v2):
   if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > 1e-3
+    return abs(v1 - v2) > TOLERANCE
   return v1 != v2
 
 
@@ -40,17 +42,17 @@ def load_ref(path):
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
   from openpilot.selfdrive.pandad import can_capnp_to_list
-  from openpilot.tools.lib.logreader import _LogFileReader
+  from openpilot.tools.lib.logreader import LogReader
   from openpilot.tools.lib.comma_car_segments import get_url
 
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
 
   can_msgs = []
-  for msg in _LogFileReader(url):
+  for msg in LogReader(url):
     if msg.which() == "can":
-      ts, data = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-      can_msgs.append((ts, [CanData(*x) for x in data]))
+      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
   return can_msgs
 
 

From e491031faf3ea7758f6506f295f6ba73f1249c5a Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 14:44:45 -0800
Subject: [PATCH 004/117] cutoff diff

---
 opendbc/car/tests/replay/car_replay.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 0b99ac3e34b..07483316dde 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -98,12 +98,14 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   for plat, seg, diffs in with_diffs:
     print(f"\n{plat} - {seg}")
     by_field = defaultdict(list)
-    for d in diffs:
+    for d in diffs[:100]:
       by_field[d[0]].append(d)
     for field, fd in sorted(by_field.items()):
       print(f"  {field} (frame: master → PR)")
       for line in format_diff(fd):
         print(line)
+    if len(diffs) > 100:
+      print(f"    ... ({len(diffs) - 100} more)")
 
   return 0
 

From 77a42d391d1f3d6b42a60d7ceb89e833efe39c5f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 15:04:33 -0800
Subject: [PATCH 005/117] parallel downloads

---
 opendbc/car/tests/replay/car_replay.py | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 07483316dde..c75446c8b80 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -26,13 +26,17 @@ def get_changed_platforms(cwd, database):
 
 
 def download_refs(ref_path, platforms, segments):
+  from concurrent.futures import ThreadPoolExecutor
   BASE_URL = "https://elkoled.blob.core.windows.net/openpilotci/"
-  for platform in platforms:
-    for seg in segments.get(platform, []):
-      filename = f"{platform}_{seg.replace('/', '_')}.zst"
-      resp = requests.get(f"{BASE_URL}car_replay/{filename}")
-      if resp.status_code == 200:
-        (Path(ref_path) / filename).write_bytes(resp.content)
+  def fetch(item):
+    platform, seg = item
+    filename = f"{platform}_{seg.replace('/', '_')}.zst"
+    resp = requests.get(f"{BASE_URL}car_replay/{filename}")
+    if resp.status_code == 200:
+      (Path(ref_path) / filename).write_bytes(resp.content)
+  work = [(p, s) for p in platforms for s in segments.get(p, [])]
+  with ThreadPoolExecutor(max_workers=8) as pool:
+    list(pool.map(fetch, work))
 
 
 def upload_refs(ref_path, platforms, segments):

From 3a4bfba8fd4c3d7243f23db218eca4aef0053a5f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 15:50:18 -0800
Subject: [PATCH 006/117] enable stderr

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 8a12a885f5d..f0f3a220bd3 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -86,12 +86,12 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py 2>/dev/null"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py"
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
         AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --update-refs 2>/dev/null"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --update-refs"
 
   # TODO: this needs to move to opendbc
   test_models:

From 1f752b3ecc3b160e8c431f50f9fcb0786e966ab3 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 15:54:46 -0800
Subject: [PATCH 007/117] fix interface

---
 opendbc/car/tests/replay/car_replay.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index c75446c8b80..acb56cea816 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -10,7 +10,7 @@
 from pathlib import Path
 
 
-def get_changed_platforms(cwd, database):
+def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
   changed = run_cmd(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd)
@@ -69,7 +69,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   cwd = Path(__file__).resolve().parents[4]
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
-  platforms = [platform] if platform and platform in interfaces else get_changed_platforms(cwd, database)
+  platforms = [platform] if platform and platform in interfaces else get_changed_platforms(cwd, database, interfaces)
 
   if not platforms:
     print("No platforms detected from changes")

From 15a040aca1d1efaaecdeb9d1e7da7204049bb2da Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 16:54:34 -0800
Subject: [PATCH 008/117] logprint errors

---
 opendbc/car/tests/replay/car_replay.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index acb56cea816..95f19108df9 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -9,6 +9,7 @@
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
+os.environ['LOGPRINT'] = 'ERROR'
 
 def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd

From 196eda0be6bc7718f27de61381fa25e39a82ed87 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 17:09:52 -0800
Subject: [PATCH 009/117] add comment to PR

---
 .github/workflows/tests.yml | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f0f3a220bd3..27a3c72c158 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -86,7 +86,13 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py"
+      run: |
+        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py" 2>&1 | tee output.txt
+    - name: Comment PR
+      if: github.event_name == 'pull_request' && always()
+      env:
+        GH_TOKEN: ${{ github.token }}
+      run: gh pr comment ${{ github.event.pull_request.number }} --body "$(cat output.txt)"
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:

From f775a7e1b5262daeb8227620805081dc660407bc Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 17:48:00 -0800
Subject: [PATCH 010/117] fix

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 27a3c72c158..61b2b64006f 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -92,7 +92,7 @@ jobs:
       if: github.event_name == 'pull_request' && always()
       env:
         GH_TOKEN: ${{ github.token }}
-      run: gh pr comment ${{ github.event.pull_request.number }} --body "$(cat output.txt)"
+      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body "$(cat output.txt)"
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:

From 5cdd4c567f0440874a74678ca7cb3b6f909bc0ba Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 18:10:40 -0800
Subject: [PATCH 011/117] FORMAT: lines

---
 opendbc/car/tests/replay/car_replay.py | 91 +++++++++++++++++++++++++-
 1 file changed, 90 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 95f19108df9..38d1569c6b9 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -52,7 +52,96 @@ def upload_refs(ref_path, platforms, segments):
 
 
 def format_diff(diffs):
-  return [f"    {d[1]}: {d[2]} → {d[3]}" for d in diffs]
+  if not diffs:
+    return []
+  if not all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs):
+    return [f"    frame {d[1]}: {d[2]} -> {d[3]}" for d in diffs[:10]]
+
+  lines = []
+  ranges, cur = [], [diffs[0]]
+  for d in diffs[1:]:
+    if d[1] <= cur[-1][1] + 15:
+      cur.append(d)
+    else:
+      ranges.append(cur)
+      cur = [d]
+  ranges.append(cur)
+
+  for rdiffs in ranges:
+    t0, t1 = max(0, rdiffs[0][1] - 5), rdiffs[-1][1] + 6
+    diff_map = {d[1]: d for d in rdiffs}
+
+    b_vals, m_vals, ts_map = [], [], {}
+    first, last = rdiffs[0], rdiffs[-1]
+    if first[2] and not first[3]:
+      b_st, m_st = False, False
+    elif not first[2] and first[3]:
+      b_st, m_st = True, True
+    else:
+      b_st, m_st = False, False
+
+    converge_frame = last[1] + 1
+    converge_val = last[2]
+
+    for f in range(t0, t1):
+      if f in diff_map:
+        b_st, m_st = diff_map[f][2], diff_map[f][3]
+        if len(diff_map[f]) > 4:
+          ts_map[f] = diff_map[f][4]
+      elif f >= converge_frame:
+        b_st = m_st = converge_val
+      b_vals.append(b_st)
+      m_vals.append(m_st)
+
+    ts_start = ts_map.get(t0, rdiffs[0][4] if len(rdiffs[0]) > 4 else 0)
+    ts_end = ts_map.get(t1 - 1, rdiffs[-1][4] if len(rdiffs[-1]) > 4 else 0)
+    t0_sec = ts_start / 1e9
+    t1_sec = ts_end / 1e9
+
+    # ms per frame from timestamps
+    if len(ts_map) >= 2:
+      ts_vals = sorted(ts_map.items())
+      frame_ms = (ts_vals[-1][1] - ts_vals[0][1]) / 1e6 / (ts_vals[-1][0] - ts_vals[0][0])
+    else:
+      frame_ms = 10
+
+    lines.append(f"\n  frames {t0}-{t1-1}")
+    pad = 12
+    init_b = not (first[2] and not first[3])
+    init_m = not first[2] and first[3]
+    for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
+      line = f"  {label}:".ljust(pad)
+      for i, v in enumerate(vals):
+        pv = vals[i - 1] if i > 0 else init
+        if v and not pv:
+          line += "/"
+        elif not v and pv:
+          line += "\\"
+        elif v:
+          line += "‾"
+        else:
+          line += "_"
+      lines.append(line)
+
+    b_rises = [i for i, v in enumerate(b_vals) if v and (i == 0 or not b_vals[i - 1])]
+    m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
+    b_falls = [i for i, v in enumerate(b_vals) if not v and i > 0 and b_vals[i - 1]]
+    m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
+
+    if b_rises and m_rises:
+      delta = m_rises[0] - b_rises[0]
+      if delta:
+        ms = int(abs(delta) * frame_ms)
+        direction = "lags" if delta > 0 else "leads"
+        lines.append(" " * pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
+    if b_falls and m_falls:
+      delta = m_falls[0] - b_falls[0]
+      if delta:
+        ms = int(abs(delta) * frame_ms)
+        direction = "lags" if delta > 0 else "leads"
+        lines.append(" " * pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
+
+  return lines
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):

From 314417db1fb4c01206d8b3880f240a44d70b5a7e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 19:10:10 -0800
Subject: [PATCH 012/117] FORMAT: plots

---
 .github/workflows/tests.yml            |   6 +-
 opendbc/car/tests/replay/car_replay.py | 148 ++++++++++++++++++++++++-
 2 files changed, 146 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 61b2b64006f..a5ef1de83ea 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -86,13 +86,15 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test
       if: github.event_name == 'pull_request'
+      env:
+        AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
       run: |
-        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py" 2>&1 | tee output.txt
+        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --plot" 2>&1 | tee output.txt
     - name: Comment PR
       if: github.event_name == 'pull_request' && always()
       env:
         GH_TOKEN: ${{ github.token }}
-      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body "$(cat output.txt)"
+      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body-file output.txt
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 38d1569c6b9..868323ec6ac 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -9,6 +9,8 @@
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
+import matplotlib.pyplot as plt
+
 os.environ['LOGPRINT'] = 'ERROR'
 
 def get_changed_platforms(cwd, database, interfaces):
@@ -144,6 +146,104 @@ def format_diff(diffs):
   return lines
 
 
+def plot_diff(field, diffs, output_dir):
+  if not diffs:
+    return None
+
+  diff_map = {d[1]: (d[2], d[3]) for d in diffs}
+  frames = sorted(diff_map.keys())
+  is_bool = all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs)
+
+  # group into edge regions (gaps > 15 frames = new region)
+  regions, cur = [], [frames[0]]
+  for f in frames[1:]:
+    if f - cur[-1] > 15:
+      regions.append(cur)
+      cur = [f]
+    else:
+      cur.append(f)
+  regions.append(cur)
+
+  if is_bool:
+    n_regions = min(len(regions), 6)
+    fig, axes = plt.subplots(n_regions, 1, figsize=(8, 1.5 * n_regions), squeeze=False)
+
+    for idx in range(n_regions):
+      region_frames = regions[idx]
+      ax = axes[idx, 0]
+      f_min, f_max = min(region_frames) - 5, max(region_frames) + 5
+      x_vals = list(range(f_min, f_max + 1))
+
+      first_m, first_p = diff_map[region_frames[0]]
+      if first_m and not first_p:
+        m_state, p_state = False, False
+      elif not first_m and first_p:
+        m_state, p_state = True, True
+      else:
+        m_state, p_state = False, False
+
+      last_frame = region_frames[-1]
+      converge_val = diff_map[last_frame][0]
+
+      m_vals, p_vals = [], []
+      for x in x_vals:
+        if x in diff_map:
+          m_state, p_state = diff_map[x]
+        elif x > last_frame:
+          m_state = p_state = converge_val
+        m_vals.append(int(m_state))
+        p_vals.append(int(p_state))
+
+      ax.step(x_vals, m_vals, where='post', label='master', color='#1f77b4', linewidth=2)
+      ax.step(x_vals, p_vals, where='post', label='PR', color='#ff7f0e', linewidth=2)
+
+      m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
+      p_rises = [i for i, v in enumerate(p_vals) if v and (i == 0 or not p_vals[i - 1])]
+      m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
+      p_falls = [i for i, v in enumerate(p_vals) if not v and i > 0 and p_vals[i - 1]]
+
+      ts_list = [(d[1], d[4]) for d in diffs if d[1] in region_frames and len(d) > 4]
+      frame_ms = 10
+      if len(ts_list) >= 2:
+        ts_list.sort()
+        frame_ms = (ts_list[-1][1] - ts_list[0][1]) / 1e6 / (ts_list[-1][0] - ts_list[0][0])
+
+      annotation = ""
+      if m_rises and p_rises and (delta := p_rises[0] - m_rises[0]):
+        annotation = f"PR {'lags' if delta > 0 else 'leads'} by {int(abs(delta) * frame_ms)} ms"
+      if m_falls and p_falls and (delta := p_falls[0] - m_falls[0]):
+        annotation = f"PR {'lags' if delta > 0 else 'leads'} by {int(abs(delta) * frame_ms)} ms"
+
+      ax.set_yticks([0, 1])
+      ax.set_yticklabels(['F', 'T'])
+      ax.set_ylim(-0.1, 1.1)
+      ax.set_xlim(f_min, f_max)
+      ax.tick_params(axis='x', labelsize=8)
+      if annotation:
+        ax.text(0.02, 0.5, annotation, transform=ax.transAxes, fontsize=9, ha='left', va='center')
+      if idx == 0:
+        ax.legend(loc='upper right', fontsize=8)
+    axes[0, 0].set_title(field, fontsize=10)
+
+  else:
+    fig, ax = plt.subplots(figsize=(8, 2.5))
+    m_vals = [diff_map[f][0] for f in frames]
+    p_vals = [diff_map[f][1] for f in frames]
+    pad = max(10, (max(frames) - min(frames)) // 10)
+    ax.plot(frames, m_vals, '-', label='master', color='#1f77b4', linewidth=1.5)
+    ax.plot(frames, p_vals, '-', label='PR', color='#ff7f0e', linewidth=1.5)
+    ax.set_xlim(min(frames) - pad, max(frames) + pad)
+    ax.set_title(field, fontsize=10)
+    ax.legend(loc='upper right', fontsize=8)
+    ax.tick_params(axis='x', labelsize=8)
+
+  plt.tight_layout()
+  plot_path = output_dir / f'{field.replace(".", "_")}.png'
+  plt.savefig(plot_path, dpi=120, facecolor='white')
+  plt.close()
+  return plot_path
+
+
 def run_replay(platforms, segments, ref_path, update, workers=8):
   from opendbc.car.tests.replay.worker import process_segment
   work = [(platform, seg, ref_path, update)
@@ -152,7 +252,7 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def main(platform=None, segments_per_platform=10, update_refs=False):
+def main(platform=None, segments_per_platform=10, update_refs=False, plot=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
@@ -189,17 +289,52 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   for plat, seg, err in errors:
     print(f"\nERROR {plat} - {seg}: {err}")
 
+  plot_dir = Path(tempfile.mkdtemp(prefix="car_replay_plots_")) if plot else None
+  upload = plot and os.environ.get("AZURE_TOKEN")
+  if upload:
+    from azure.storage.blob import BlobClient, ContentSettings
+    from openpilot.tools.lib.azure_container import get_azure_credential
+    account_url = "https://elkoled.blob.core.windows.net"
+    container_name = "openpilotci"
+  image_urls = []
+
+  if with_diffs:
+    print("```")  # open code block for ASCII output
+
   for plat, seg, diffs in with_diffs:
     print(f"\n{plat} - {seg}")
     by_field = defaultdict(list)
-    for d in diffs[:100]:
+    for d in diffs:
       by_field[d[0]].append(d)
+
+    if plot_dir:
+      seg_dir = plot_dir / f"{plat}_{seg.replace('/', '_')}"
+      seg_dir.mkdir(exist_ok=True)
+
     for field, fd in sorted(by_field.items()):
       print(f"  {field} (frame: master → PR)")
-      for line in format_diff(fd):
+      for line in format_diff(fd[:100]):
         print(line)
-    if len(diffs) > 100:
-      print(f"    ... ({len(diffs) - 100} more)")
+      if len(fd) > 100:
+        print(f"    ... ({len(fd) - 100} more)")
+      if plot_dir:
+        plot_path = plot_diff(field, fd, seg_dir)
+        if plot_path and upload:
+          blob_name = f"car_replay_plots/{seg_dir.name}/{plot_path.name}"
+          blob = BlobClient(account_url, container_name, blob_name, credential=get_azure_credential())
+          with open(plot_path, "rb") as f:
+            blob.upload_blob(f, overwrite=True, content_settings=ContentSettings(content_type="image/png"))
+          image_urls.append((plat, seg, field, f"{account_url}/{container_name}/{blob_name}"))
+
+  if with_diffs:
+    print("```")  # close code block
+
+  # print images outside code block so markdown renders them
+  if image_urls:
+    print("\n**Plots:**")
+    for plat, seg, field, url in image_urls:
+      print(f"\n{plat} - {field}")
+      print(f"![{field}]({url})")
 
   return 0
 
@@ -209,5 +344,6 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   parser.add_argument("--platform")
   parser.add_argument("--segments-per-platform", type=int, default=10)
   parser.add_argument("--update-refs", action="store_true")
+  parser.add_argument("--plot", action="store_true")
   args = parser.parse_args()
-  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs))
+  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.plot))

From 0262b1fad446691d594adef6baf284938d2d115d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 9 Jan 2026 20:03:58 -0800
Subject: [PATCH 013/117] FORMAT: fix

---
 opendbc/car/tests/replay/car_replay.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 868323ec6ac..608c53dd25a 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -113,7 +113,7 @@ def format_diff(diffs):
     init_m = not first[2] and first[3]
     for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
       line = f"  {label}:".ljust(pad)
-      for i, v in enumerate(vals):
+      for i, v in enumerate(vals[:100]):
         pv = vals[i - 1] if i > 0 else init
         if v and not pv:
           line += "/"
@@ -231,7 +231,7 @@ def plot_diff(field, diffs, output_dir):
     p_vals = [diff_map[f][1] for f in frames]
     pad = max(10, (max(frames) - min(frames)) // 10)
     ax.plot(frames, m_vals, '-', label='master', color='#1f77b4', linewidth=1.5)
-    ax.plot(frames, p_vals, '-', label='PR', color='#ff7f0e', linewidth=1.5)
+    ax.plot(frames, p_vals, '--', label='PR', color='#ff7f0e', linewidth=1.5)
     ax.set_xlim(min(frames) - pad, max(frames) + pad)
     ax.set_title(field, fontsize=10)
     ax.legend(loc='upper right', fontsize=8)
@@ -313,10 +313,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
 
     for field, fd in sorted(by_field.items()):
       print(f"  {field} (frame: master → PR)")
-      for line in format_diff(fd[:100]):
+      for line in format_diff(fd):
         print(line)
-      if len(fd) > 100:
-        print(f"    ... ({len(fd) - 100} more)")
       if plot_dir:
         plot_path = plot_diff(field, fd, seg_dir)
         if plot_path and upload:

From d4c10e68f2d0dcfbb6e01e180f5f2dac36686a56 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Sun, 11 Jan 2026 14:56:54 -0800
Subject: [PATCH 014/117] modules

---
 opendbc/car/tests/replay/car_replay.py |   2 +-
 opendbc/car/tests/replay/compare.py    |  26 +++++++
 opendbc/car/tests/replay/loader.py     |  29 +++++++
 opendbc/car/tests/replay/replay.py     |  51 ++++++++++++
 opendbc/car/tests/replay/worker.py     | 103 -------------------------
 5 files changed, 107 insertions(+), 104 deletions(-)
 create mode 100644 opendbc/car/tests/replay/compare.py
 create mode 100644 opendbc/car/tests/replay/loader.py
 create mode 100644 opendbc/car/tests/replay/replay.py
 delete mode 100644 opendbc/car/tests/replay/worker.py

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 608c53dd25a..490b8890ec1 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -245,7 +245,7 @@ def plot_diff(field, diffs, output_dir):
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):
-  from opendbc.car.tests.replay.worker import process_segment
+  from opendbc.car.tests.replay.replay import process_segment
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
   with ProcessPoolExecutor(max_workers=workers) as pool:
diff --git a/opendbc/car/tests/replay/compare.py b/opendbc/car/tests/replay/compare.py
new file mode 100644
index 00000000000..6b9993be8df
--- /dev/null
+++ b/opendbc/car/tests/replay/compare.py
@@ -0,0 +1,26 @@
+TOLERANCE = 1e-3
+
+CARSTATE_FIELDS = [
+  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
+  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
+  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
+  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
+  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
+  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
+  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
+  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
+  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
+  "canValid", "canTimeout",
+]
+
+
+def get_value(obj, field):
+  for p in field.split("."):
+    obj = getattr(obj, p, None)
+  return obj.raw if hasattr(obj, "raw") else obj
+
+
+def differs(v1, v2):
+  if isinstance(v1, float) and isinstance(v2, float):
+    return abs(v1 - v2) > TOLERANCE
+  return v1 != v2
diff --git a/opendbc/car/tests/replay/loader.py b/opendbc/car/tests/replay/loader.py
new file mode 100644
index 00000000000..0a6b15d12f6
--- /dev/null
+++ b/opendbc/car/tests/replay/loader.py
@@ -0,0 +1,29 @@
+import pickle
+import zstandard as zstd
+from pathlib import Path
+
+
+def save_ref(path, states, timestamps):
+  data = list(zip(timestamps, states, strict=True))
+  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
+
+
+def load_ref(path):
+  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
+
+
+def load_can_messages(seg):
+  from opendbc.car.can_definitions import CanData
+  from openpilot.selfdrive.pandad import can_capnp_to_list
+  from openpilot.tools.lib.logreader import LogReader
+  from openpilot.tools.lib.comma_car_segments import get_url
+
+  parts = seg.split("/")
+  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
+
+  can_msgs = []
+  for msg in LogReader(url):
+    if msg.which() == "can":
+      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
+  return can_msgs
diff --git a/opendbc/car/tests/replay/replay.py b/opendbc/car/tests/replay/replay.py
new file mode 100644
index 00000000000..df4d8fc078d
--- /dev/null
+++ b/opendbc/car/tests/replay/replay.py
@@ -0,0 +1,51 @@
+from pathlib import Path
+
+from opendbc.car.tests.replay.compare import CARSTATE_FIELDS, get_value, differs
+from opendbc.car.tests.replay.loader import load_can_messages, load_ref, save_ref
+
+
+def replay_segment(platform, can_msgs):
+  from opendbc.car import gen_empty_fingerprint, structs
+  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+
+  fingerprint = gen_empty_fingerprint()
+  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
+    for msg in frames:
+      if msg.src < 64:
+        fingerprint[msg.src][msg.address] = len(msg.dat)
+
+  CarInterface = interfaces[platform]
+  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
+  car_control = structs.CarControl().as_reader()
+
+  states = []
+  timestamps = []
+  for ts, frames in can_msgs:
+    states.append(car_interface.update([(ts, frames)]))
+    car_interface.apply(car_control, ts)
+    timestamps.append(ts)
+  return states, timestamps
+
+
+def process_segment(args):
+  platform, seg, ref_path, update = args
+  try:
+    can_msgs = load_can_messages(seg)
+    states, timestamps = replay_segment(platform, can_msgs)
+    ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
+
+    if update:
+      save_ref(ref_file, states, timestamps)
+      return (platform, seg, [], None)
+
+    if not ref_file.exists():
+      return (platform, seg, [], "no ref")
+
+    ref = load_ref(ref_file)
+    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
+             for field in CARSTATE_FIELDS
+             if differs(get_value(state, field), get_value(ref_state, field))]
+    return (platform, seg, diffs, None)
+  except Exception as e:
+    return (platform, seg, [], str(e))
diff --git a/opendbc/car/tests/replay/worker.py b/opendbc/car/tests/replay/worker.py
deleted file mode 100644
index 41ebd7241d9..00000000000
--- a/opendbc/car/tests/replay/worker.py
+++ /dev/null
@@ -1,103 +0,0 @@
-import pickle
-import zstandard as zstd
-from pathlib import Path
-
-TOLERANCE = 1e-3
-
-CARSTATE_FIELDS = [
-  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
-  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
-  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
-  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
-  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
-  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
-  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
-  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
-  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
-  "canValid", "canTimeout",
-]
-
-
-def get_value(obj, field):
-  for p in field.split("."):
-    obj = getattr(obj, p, None)
-  return obj.raw if hasattr(obj, "raw") else obj
-
-
-def differs(v1, v2):
-  if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > TOLERANCE
-  return v1 != v2
-
-
-def save_ref(path, states, timestamps):
-  data = list(zip(timestamps, states, strict=True))
-  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
-
-
-def load_ref(path):
-  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
-
-
-def load_can_messages(seg):
-  from opendbc.car.can_definitions import CanData
-  from openpilot.selfdrive.pandad import can_capnp_to_list
-  from openpilot.tools.lib.logreader import LogReader
-  from openpilot.tools.lib.comma_car_segments import get_url
-
-  parts = seg.split("/")
-  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-
-  can_msgs = []
-  for msg in LogReader(url):
-    if msg.which() == "can":
-      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
-  return can_msgs
-
-
-def replay_segment(platform, can_msgs):
-  from opendbc.car import gen_empty_fingerprint, structs
-  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-
-  fingerprint = gen_empty_fingerprint()
-  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
-    for msg in frames:
-      if msg.src < 64:
-        fingerprint[msg.src][msg.address] = len(msg.dat)
-
-  CarInterface = interfaces[platform]
-  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
-  car_control = structs.CarControl().as_reader()
-
-  states = []
-  timestamps = []
-  for ts, frames in can_msgs:
-    states.append(car_interface.update([(ts, frames)]))
-    car_interface.apply(car_control, ts)
-    timestamps.append(ts)
-  return states, timestamps
-
-
-def process_segment(args):
-  platform, seg, ref_path, update = args
-  try:
-    can_msgs = load_can_messages(seg)
-    states, timestamps = replay_segment(platform, can_msgs)
-    ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
-
-    if update:
-      save_ref(ref_file, states, timestamps)
-      return (platform, seg, [], None)
-
-    if not ref_file.exists():
-      return (platform, seg, [], "no ref")
-
-    ref = load_ref(ref_file)
-    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
-             for field in CARSTATE_FIELDS
-             if differs(get_value(state, field), get_value(ref_state, field))]
-    return (platform, seg, diffs, None)
-  except Exception as e:
-    return (platform, seg, [], str(e))

From b7f7cb55b4ef3749af9047f8b4f7e9db23b4e438 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 14:32:22 -0800
Subject: [PATCH 015/117] Revert "use azure test instance"

This reverts commit ba969ccda452a4841934440d3ced22829861f70f.
---
 .github/workflows/tests.yml            |  2 --
 opendbc/car/tests/replay/car_replay.py | 23 +++++++++--------------
 2 files changed, 9 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a5ef1de83ea..506a2473453 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -80,8 +80,6 @@ jobs:
         fetch-depth: 0
     - run: cd opendbc_repo && git fetch origin master
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build docker
-      run: selfdrive/test/docker_build.sh base
     - name: Build
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test
diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index 490b8890ec1..bcb427e3290 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -29,28 +29,23 @@ def get_changed_platforms(cwd, database, interfaces):
 
 
 def download_refs(ref_path, platforms, segments):
-  from concurrent.futures import ThreadPoolExecutor
-  BASE_URL = "https://elkoled.blob.core.windows.net/openpilotci/"
-  def fetch(item):
-    platform, seg = item
-    filename = f"{platform}_{seg.replace('/', '_')}.zst"
-    resp = requests.get(f"{BASE_URL}car_replay/{filename}")
-    if resp.status_code == 200:
-      (Path(ref_path) / filename).write_bytes(resp.content)
-  work = [(p, s) for p in platforms for s in segments.get(p, [])]
-  with ThreadPoolExecutor(max_workers=8) as pool:
-    list(pool.map(fetch, work))
+  from openpilot.tools.lib.openpilotci import BASE_URL
+  for platform in platforms:
+    for seg in segments.get(platform, []):
+      filename = f"{platform}_{seg.replace('/', '_')}.zst"
+      resp = requests.get(f"{BASE_URL}car_replay/{filename}")
+      if resp.status_code == 200:
+        (Path(ref_path) / filename).write_bytes(resp.content)
 
 
 def upload_refs(ref_path, platforms, segments):
-  from openpilot.tools.lib.azure_container import AzureContainer
-  container = AzureContainer("elkoled", "openpilotci")
+  from openpilot.tools.lib.openpilotci import upload_file
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
       local_path = Path(ref_path) / filename
       if local_path.exists():
-        container.upload_file(str(local_path), f"car_replay/{filename}", overwrite=True)
+        upload_file(str(local_path), f"car_replay/{filename}")
 
 
 def format_diff(diffs):

From f9d23e4f4d93f462e0138637351ea81c13fed5a4 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 14:34:47 -0800
Subject: [PATCH 016/117] build on forks

---
 .github/workflows/tests.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 506a2473453..a5ef1de83ea 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -80,6 +80,8 @@ jobs:
         fetch-depth: 0
     - run: cd opendbc_repo && git fetch origin master
     - uses: ./.github/workflows/setup-with-retry
+    - name: Build docker
+      run: selfdrive/test/docker_build.sh base
     - name: Build
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test

From e82047fdf89873e79a807ba75e324f8349138256 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 14:40:07 -0800
Subject: [PATCH 017/117] clean

---
 opendbc/car/tests/replay/car_replay.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/replay/car_replay.py
index bcb427e3290..e7832882b15 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/replay/car_replay.py
@@ -21,9 +21,9 @@ def get_changed_platforms(cwd, database, interfaces):
   for line in changed.splitlines():
     if m := re.search(r"opendbc/car/(\w+)/", line):
       brands.add(m.group(1))
-    if m := re.search(r"opendbc/dbc/(\w+?)_", line):
+    if m := re.search(r"opendbc/dbc/(\w+)_", line):
       brands.add(m.group(1).lower())
-    if m := re.search(r"opendbc/safety/modes/(\w+?)[_.]", line):
+    if m := re.search(r"opendbc/safety/modes/(\w+)[_.]", line):
       brands.add(m.group(1).lower())
   return [p for p in interfaces if any(b.upper() in p for b in brands) and p in database]
 

From 132af7f50b5b3d6f3e38b5aea6070490b0d7f418 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 14:47:01 -0800
Subject: [PATCH 018/117] rename

---
 .github/workflows/tests.yml                               | 8 ++++----
 opendbc/car/tests/{replay => diff}/__init__.py            | 0
 .../car/tests/{replay/car_replay.py => diff/car_diff.py}  | 2 +-
 opendbc/car/tests/{replay => diff}/compare.py             | 0
 opendbc/car/tests/{replay => diff}/loader.py              | 0
 opendbc/car/tests/{replay => diff}/replay.py              | 4 ++--
 6 files changed, 7 insertions(+), 7 deletions(-)
 rename opendbc/car/tests/{replay => diff}/__init__.py (100%)
 rename opendbc/car/tests/{replay/car_replay.py => diff/car_diff.py} (99%)
 rename opendbc/car/tests/{replay => diff}/compare.py (100%)
 rename opendbc/car/tests/{replay => diff}/loader.py (100%)
 rename opendbc/car/tests/{replay => diff}/replay.py (90%)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a5ef1de83ea..2f911d7b952 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -60,8 +60,8 @@ jobs:
           scons -j8
           cd opendbc/safety/tests && ./mutation.sh
 
-  car_replay:
-    name: car replay
+  car_diff:
+    name: car diff
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
       BASE_IMAGE: openpilot-base
@@ -89,7 +89,7 @@ jobs:
       env:
         AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
       run: |
-        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --plot" 2>&1 | tee output.txt
+        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" 2>&1 | tee output.txt
     - name: Comment PR
       if: github.event_name == 'pull_request' && always()
       env:
@@ -99,7 +99,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       env:
         AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/replay/car_replay.py --update-refs"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py --update-refs"
 
   # TODO: this needs to move to opendbc
   test_models:
diff --git a/opendbc/car/tests/replay/__init__.py b/opendbc/car/tests/diff/__init__.py
similarity index 100%
rename from opendbc/car/tests/replay/__init__.py
rename to opendbc/car/tests/diff/__init__.py
diff --git a/opendbc/car/tests/replay/car_replay.py b/opendbc/car/tests/diff/car_diff.py
similarity index 99%
rename from opendbc/car/tests/replay/car_replay.py
rename to opendbc/car/tests/diff/car_diff.py
index e7832882b15..471a164cd7b 100644
--- a/opendbc/car/tests/replay/car_replay.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -240,7 +240,7 @@ def plot_diff(field, diffs, output_dir):
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):
-  from opendbc.car.tests.replay.replay import process_segment
+  from opendbc.car.tests.diff.replay import process_segment
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
   with ProcessPoolExecutor(max_workers=workers) as pool:
diff --git a/opendbc/car/tests/replay/compare.py b/opendbc/car/tests/diff/compare.py
similarity index 100%
rename from opendbc/car/tests/replay/compare.py
rename to opendbc/car/tests/diff/compare.py
diff --git a/opendbc/car/tests/replay/loader.py b/opendbc/car/tests/diff/loader.py
similarity index 100%
rename from opendbc/car/tests/replay/loader.py
rename to opendbc/car/tests/diff/loader.py
diff --git a/opendbc/car/tests/replay/replay.py b/opendbc/car/tests/diff/replay.py
similarity index 90%
rename from opendbc/car/tests/replay/replay.py
rename to opendbc/car/tests/diff/replay.py
index df4d8fc078d..c0a0376955d 100644
--- a/opendbc/car/tests/replay/replay.py
+++ b/opendbc/car/tests/diff/replay.py
@@ -1,7 +1,7 @@
 from pathlib import Path
 
-from opendbc.car.tests.replay.compare import CARSTATE_FIELDS, get_value, differs
-from opendbc.car.tests.replay.loader import load_can_messages, load_ref, save_ref
+from opendbc.car.tests.diff.compare import CARSTATE_FIELDS, get_value, differs
+from opendbc.car.tests.diff.loader import load_can_messages, load_ref, save_ref
 
 
 def replay_segment(platform, can_msgs):

From ca35829b19e4ddc77dbab58594d5e9d982db142d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 15:13:03 -0800
Subject: [PATCH 019/117] replace azure with ci-artifacts

---
 .github/workflows/tests.yml        |  4 ++--
 opendbc/car/tests/diff/car_diff.py | 16 ++++++++++++----
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 2f911d7b952..d55ba3f5267 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -66,7 +66,7 @@ jobs:
     env:
       BASE_IMAGE: openpilot-base
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
-      RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONPATH=/tmp/openpilot -e AZURE_TOKEN=$AZURE_TOKEN -e GIT_REF=$GIT_REF -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/bash -c
+      RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONPATH=/tmp/openpilot -e GIT_REF -e GITHUB_TOKEN -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/bash -c
     steps:
     - uses: actions/checkout@v4
       with:
@@ -98,7 +98,7 @@ jobs:
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
-        AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
+        GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
       run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py --update-refs"
 
   # TODO: this needs to move to opendbc
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 471a164cd7b..de33e9389bc 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -13,6 +13,9 @@
 
 os.environ['LOGPRINT'] = 'ERROR'
 
+DIFF_BUCKET = "car_diff"
+
+
 def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
@@ -29,23 +32,28 @@ def get_changed_platforms(cwd, database, interfaces):
 
 
 def download_refs(ref_path, platforms, segments):
-  from openpilot.tools.lib.openpilotci import BASE_URL
+  from openpilot.tools.lib.github_utils import GithubUtils
+  gh = GithubUtils(None, None)
+  base_url = gh.get_bucket_link(DIFF_BUCKET)
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
-      resp = requests.get(f"{BASE_URL}car_replay/{filename}")
+      resp = requests.get(f"{base_url}/{filename}")
       if resp.status_code == 200:
         (Path(ref_path) / filename).write_bytes(resp.content)
 
 
 def upload_refs(ref_path, platforms, segments):
-  from openpilot.tools.lib.openpilotci import upload_file
+  from openpilot.tools.lib.github_utils import GithubUtils
+  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"))
+  files = []
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
       local_path = Path(ref_path) / filename
       if local_path.exists():
-        upload_file(str(local_path), f"car_replay/{filename}")
+        files.append((filename, str(local_path)))
+  gh.upload_files(DIFF_BUCKET, files)
 
 
 def format_diff(diffs):

From 52740b5f0cef069b458aaf41235117f7819d42e0 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:33:40 -0800
Subject: [PATCH 020/117] auto bootstrap

---
 opendbc/car/tests/diff/car_diff.py | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index de33e9389bc..299fefe7ed2 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -16,6 +16,11 @@
 DIFF_BUCKET = "car_diff"
 
 
+def bucket_is_empty():
+  from openpilot.tools.lib.github_utils import GithubUtils
+  return requests.head(GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)).status_code != 200
+
+
 def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
@@ -262,7 +267,15 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
   cwd = Path(__file__).resolve().parents[4]
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
-  platforms = [platform] if platform and platform in interfaces else get_changed_platforms(cwd, database, interfaces)
+
+  if update_refs and bucket_is_empty():
+    print("Bootstrapping all platforms...")
+    platforms = [p for p in interfaces if p in database]
+  elif platform and platform in interfaces:
+    platforms = [platform]
+  else:
+    # auto detect platform changes by default
+    platforms = get_changed_platforms(cwd, database, interfaces)
 
   if not platforms:
     print("No platforms detected from changes")
@@ -342,9 +355,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
-  parser.add_argument("--platform")
-  parser.add_argument("--segments-per-platform", type=int, default=10)
-  parser.add_argument("--update-refs", action="store_true")
-  parser.add_argument("--plot", action="store_true")
+  parser.add_argument("--platform", help="run diff on a single platform only")
+  parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to test per platform")
+  parser.add_argument("--update-refs", action="store_true", help="update refs to the current commit")
   args = parser.parse_args()
   sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.plot))

From 3ddb39abe536a9e30438cf4b0cbc7481f7588f6e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:41:37 -0800
Subject: [PATCH 021/117] help

---
 opendbc/car/tests/diff/car_diff.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 299fefe7ed2..e0d4f962bde 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -355,8 +355,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
-  parser.add_argument("--platform", help="run diff on a single platform only")
-  parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to test per platform")
-  parser.add_argument("--update-refs", action="store_true", help="update refs to the current commit")
+  parser.add_argument("--platform", help="diff single platform")
+  parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to diff per platform")
+  parser.add_argument("--update-refs", action="store_true", help="update refs based on current commit")
   args = parser.parse_args()
   sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.plot))

From fc691b500c58e76a41c8f5785b6acf89ff4e1573 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:46:12 -0800
Subject: [PATCH 022/117] FORK TEST

---
 opendbc/car/tests/diff/car_diff.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index e0d4f962bde..f31018d5e57 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -18,7 +18,7 @@
 
 def bucket_is_empty():
   from openpilot.tools.lib.github_utils import GithubUtils
-  return requests.head(GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)).status_code != 200
+  return requests.head(GithubUtils(None, None, "elkoled").get_bucket_link(DIFF_BUCKET)).status_code != 200
 
 
 def get_changed_platforms(cwd, database, interfaces):
@@ -38,7 +38,7 @@ def get_changed_platforms(cwd, database, interfaces):
 
 def download_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, None)
+  gh = GithubUtils(None, None, "elkoled")
   base_url = gh.get_bucket_link(DIFF_BUCKET)
   for platform in platforms:
     for seg in segments.get(platform, []):
@@ -50,7 +50,7 @@ def download_refs(ref_path, platforms, segments):
 
 def upload_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"))
+  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"), "elkoled")
   files = []
   for platform in platforms:
     for seg in segments.get(platform, []):

From 309e5c946d677c21504c4965c1d12ea4370dfed5 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:51:51 -0800
Subject: [PATCH 023/117] Revert "FORMAT: fix"

This reverts commit 0262b1fad446691d594adef6baf284938d2d115d.
---
 opendbc/car/tests/diff/car_diff.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index f31018d5e57..322fd168d11 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -121,7 +121,7 @@ def format_diff(diffs):
     init_m = not first[2] and first[3]
     for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
       line = f"  {label}:".ljust(pad)
-      for i, v in enumerate(vals[:100]):
+      for i, v in enumerate(vals):
         pv = vals[i - 1] if i > 0 else init
         if v and not pv:
           line += "/"
@@ -239,7 +239,7 @@ def plot_diff(field, diffs, output_dir):
     p_vals = [diff_map[f][1] for f in frames]
     pad = max(10, (max(frames) - min(frames)) // 10)
     ax.plot(frames, m_vals, '-', label='master', color='#1f77b4', linewidth=1.5)
-    ax.plot(frames, p_vals, '--', label='PR', color='#ff7f0e', linewidth=1.5)
+    ax.plot(frames, p_vals, '-', label='PR', color='#ff7f0e', linewidth=1.5)
     ax.set_xlim(min(frames) - pad, max(frames) + pad)
     ax.set_title(field, fontsize=10)
     ax.legend(loc='upper right', fontsize=8)
@@ -329,8 +329,10 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
 
     for field, fd in sorted(by_field.items()):
       print(f"  {field} (frame: master → PR)")
-      for line in format_diff(fd):
+      for line in format_diff(fd[:100]):
         print(line)
+      if len(fd) > 100:
+        print(f"    ... ({len(fd) - 100} more)")
       if plot_dir:
         plot_path = plot_diff(field, fd, seg_dir)
         if plot_path and upload:

From 75ca90203dab6d7c15eb4c9a877684ea505f615d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:52:29 -0800
Subject: [PATCH 024/117] Revert "FORMAT: plots"

This reverts commit 314417db1fb4c01206d8b3880f240a44d70b5a7e.
---
 .github/workflows/tests.yml        |   4 +-
 opendbc/car/tests/diff/car_diff.py | 147 ++---------------------------
 2 files changed, 7 insertions(+), 144 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index d55ba3f5267..8e56b02d212 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -86,15 +86,13 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test
       if: github.event_name == 'pull_request'
-      env:
-        AZURE_TOKEN: ${{ secrets.AZURE_TOKEN }}
       run: |
         ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" 2>&1 | tee output.txt
     - name: Comment PR
       if: github.event_name == 'pull_request' && always()
       env:
         GH_TOKEN: ${{ github.token }}
-      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body-file output.txt
+      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body "$(cat output.txt)"
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 322fd168d11..beb34840c69 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -9,8 +9,6 @@
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
-import matplotlib.pyplot as plt
-
 os.environ['LOGPRINT'] = 'ERROR'
 
 DIFF_BUCKET = "car_diff"
@@ -154,104 +152,6 @@ def format_diff(diffs):
   return lines
 
 
-def plot_diff(field, diffs, output_dir):
-  if not diffs:
-    return None
-
-  diff_map = {d[1]: (d[2], d[3]) for d in diffs}
-  frames = sorted(diff_map.keys())
-  is_bool = all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs)
-
-  # group into edge regions (gaps > 15 frames = new region)
-  regions, cur = [], [frames[0]]
-  for f in frames[1:]:
-    if f - cur[-1] > 15:
-      regions.append(cur)
-      cur = [f]
-    else:
-      cur.append(f)
-  regions.append(cur)
-
-  if is_bool:
-    n_regions = min(len(regions), 6)
-    fig, axes = plt.subplots(n_regions, 1, figsize=(8, 1.5 * n_regions), squeeze=False)
-
-    for idx in range(n_regions):
-      region_frames = regions[idx]
-      ax = axes[idx, 0]
-      f_min, f_max = min(region_frames) - 5, max(region_frames) + 5
-      x_vals = list(range(f_min, f_max + 1))
-
-      first_m, first_p = diff_map[region_frames[0]]
-      if first_m and not first_p:
-        m_state, p_state = False, False
-      elif not first_m and first_p:
-        m_state, p_state = True, True
-      else:
-        m_state, p_state = False, False
-
-      last_frame = region_frames[-1]
-      converge_val = diff_map[last_frame][0]
-
-      m_vals, p_vals = [], []
-      for x in x_vals:
-        if x in diff_map:
-          m_state, p_state = diff_map[x]
-        elif x > last_frame:
-          m_state = p_state = converge_val
-        m_vals.append(int(m_state))
-        p_vals.append(int(p_state))
-
-      ax.step(x_vals, m_vals, where='post', label='master', color='#1f77b4', linewidth=2)
-      ax.step(x_vals, p_vals, where='post', label='PR', color='#ff7f0e', linewidth=2)
-
-      m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
-      p_rises = [i for i, v in enumerate(p_vals) if v and (i == 0 or not p_vals[i - 1])]
-      m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
-      p_falls = [i for i, v in enumerate(p_vals) if not v and i > 0 and p_vals[i - 1]]
-
-      ts_list = [(d[1], d[4]) for d in diffs if d[1] in region_frames and len(d) > 4]
-      frame_ms = 10
-      if len(ts_list) >= 2:
-        ts_list.sort()
-        frame_ms = (ts_list[-1][1] - ts_list[0][1]) / 1e6 / (ts_list[-1][0] - ts_list[0][0])
-
-      annotation = ""
-      if m_rises and p_rises and (delta := p_rises[0] - m_rises[0]):
-        annotation = f"PR {'lags' if delta > 0 else 'leads'} by {int(abs(delta) * frame_ms)} ms"
-      if m_falls and p_falls and (delta := p_falls[0] - m_falls[0]):
-        annotation = f"PR {'lags' if delta > 0 else 'leads'} by {int(abs(delta) * frame_ms)} ms"
-
-      ax.set_yticks([0, 1])
-      ax.set_yticklabels(['F', 'T'])
-      ax.set_ylim(-0.1, 1.1)
-      ax.set_xlim(f_min, f_max)
-      ax.tick_params(axis='x', labelsize=8)
-      if annotation:
-        ax.text(0.02, 0.5, annotation, transform=ax.transAxes, fontsize=9, ha='left', va='center')
-      if idx == 0:
-        ax.legend(loc='upper right', fontsize=8)
-    axes[0, 0].set_title(field, fontsize=10)
-
-  else:
-    fig, ax = plt.subplots(figsize=(8, 2.5))
-    m_vals = [diff_map[f][0] for f in frames]
-    p_vals = [diff_map[f][1] for f in frames]
-    pad = max(10, (max(frames) - min(frames)) // 10)
-    ax.plot(frames, m_vals, '-', label='master', color='#1f77b4', linewidth=1.5)
-    ax.plot(frames, p_vals, '-', label='PR', color='#ff7f0e', linewidth=1.5)
-    ax.set_xlim(min(frames) - pad, max(frames) + pad)
-    ax.set_title(field, fontsize=10)
-    ax.legend(loc='upper right', fontsize=8)
-    ax.tick_params(axis='x', labelsize=8)
-
-  plt.tight_layout()
-  plot_path = output_dir / f'{field.replace(".", "_")}.png'
-  plt.savefig(plot_path, dpi=120, facecolor='white')
-  plt.close()
-  return plot_path
-
-
 def run_replay(platforms, segments, ref_path, update, workers=8):
   from opendbc.car.tests.diff.replay import process_segment
   work = [(platform, seg, ref_path, update)
@@ -260,7 +160,7 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def main(platform=None, segments_per_platform=10, update_refs=False, plot=False):
+def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
@@ -305,52 +205,17 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
   for plat, seg, err in errors:
     print(f"\nERROR {plat} - {seg}: {err}")
 
-  plot_dir = Path(tempfile.mkdtemp(prefix="car_replay_plots_")) if plot else None
-  upload = plot and os.environ.get("AZURE_TOKEN")
-  if upload:
-    from azure.storage.blob import BlobClient, ContentSettings
-    from openpilot.tools.lib.azure_container import get_azure_credential
-    account_url = "https://elkoled.blob.core.windows.net"
-    container_name = "openpilotci"
-  image_urls = []
-
-  if with_diffs:
-    print("```")  # open code block for ASCII output
-
   for plat, seg, diffs in with_diffs:
     print(f"\n{plat} - {seg}")
     by_field = defaultdict(list)
-    for d in diffs:
+    for d in diffs[:100]:
       by_field[d[0]].append(d)
-
-    if plot_dir:
-      seg_dir = plot_dir / f"{plat}_{seg.replace('/', '_')}"
-      seg_dir.mkdir(exist_ok=True)
-
     for field, fd in sorted(by_field.items()):
       print(f"  {field} (frame: master → PR)")
-      for line in format_diff(fd[:100]):
+      for line in format_diff(fd):
         print(line)
-      if len(fd) > 100:
-        print(f"    ... ({len(fd) - 100} more)")
-      if plot_dir:
-        plot_path = plot_diff(field, fd, seg_dir)
-        if plot_path and upload:
-          blob_name = f"car_replay_plots/{seg_dir.name}/{plot_path.name}"
-          blob = BlobClient(account_url, container_name, blob_name, credential=get_azure_credential())
-          with open(plot_path, "rb") as f:
-            blob.upload_blob(f, overwrite=True, content_settings=ContentSettings(content_type="image/png"))
-          image_urls.append((plat, seg, field, f"{account_url}/{container_name}/{blob_name}"))
-
-  if with_diffs:
-    print("```")  # close code block
-
-  # print images outside code block so markdown renders them
-  if image_urls:
-    print("\n**Plots:**")
-    for plat, seg, field, url in image_urls:
-      print(f"\n{plat} - {field}")
-      print(f"![{field}]({url})")
+    if len(diffs) > 100:
+      print(f"    ... ({len(diffs) - 100} more)")
 
   return 0
 
@@ -361,4 +226,4 @@ def main(platform=None, segments_per_platform=10, update_refs=False, plot=False)
   parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to diff per platform")
   parser.add_argument("--update-refs", action="store_true", help="update refs based on current commit")
   args = parser.parse_args()
-  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.plot))
+  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs))

From c122c4f5517f22c759456ea44a5f0d2ac4159f34 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:52:46 -0800
Subject: [PATCH 025/117] Revert "FORMAT: lines"

This reverts commit 5cdd4c567f0440874a74678ca7cb3b6f909bc0ba.
---
 opendbc/car/tests/diff/car_diff.py | 91 +-----------------------------
 1 file changed, 1 insertion(+), 90 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index beb34840c69..2e4f583d791 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -60,96 +60,7 @@ def upload_refs(ref_path, platforms, segments):
 
 
 def format_diff(diffs):
-  if not diffs:
-    return []
-  if not all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs):
-    return [f"    frame {d[1]}: {d[2]} -> {d[3]}" for d in diffs[:10]]
-
-  lines = []
-  ranges, cur = [], [diffs[0]]
-  for d in diffs[1:]:
-    if d[1] <= cur[-1][1] + 15:
-      cur.append(d)
-    else:
-      ranges.append(cur)
-      cur = [d]
-  ranges.append(cur)
-
-  for rdiffs in ranges:
-    t0, t1 = max(0, rdiffs[0][1] - 5), rdiffs[-1][1] + 6
-    diff_map = {d[1]: d for d in rdiffs}
-
-    b_vals, m_vals, ts_map = [], [], {}
-    first, last = rdiffs[0], rdiffs[-1]
-    if first[2] and not first[3]:
-      b_st, m_st = False, False
-    elif not first[2] and first[3]:
-      b_st, m_st = True, True
-    else:
-      b_st, m_st = False, False
-
-    converge_frame = last[1] + 1
-    converge_val = last[2]
-
-    for f in range(t0, t1):
-      if f in diff_map:
-        b_st, m_st = diff_map[f][2], diff_map[f][3]
-        if len(diff_map[f]) > 4:
-          ts_map[f] = diff_map[f][4]
-      elif f >= converge_frame:
-        b_st = m_st = converge_val
-      b_vals.append(b_st)
-      m_vals.append(m_st)
-
-    ts_start = ts_map.get(t0, rdiffs[0][4] if len(rdiffs[0]) > 4 else 0)
-    ts_end = ts_map.get(t1 - 1, rdiffs[-1][4] if len(rdiffs[-1]) > 4 else 0)
-    t0_sec = ts_start / 1e9
-    t1_sec = ts_end / 1e9
-
-    # ms per frame from timestamps
-    if len(ts_map) >= 2:
-      ts_vals = sorted(ts_map.items())
-      frame_ms = (ts_vals[-1][1] - ts_vals[0][1]) / 1e6 / (ts_vals[-1][0] - ts_vals[0][0])
-    else:
-      frame_ms = 10
-
-    lines.append(f"\n  frames {t0}-{t1-1}")
-    pad = 12
-    init_b = not (first[2] and not first[3])
-    init_m = not first[2] and first[3]
-    for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
-      line = f"  {label}:".ljust(pad)
-      for i, v in enumerate(vals):
-        pv = vals[i - 1] if i > 0 else init
-        if v and not pv:
-          line += "/"
-        elif not v and pv:
-          line += "\\"
-        elif v:
-          line += "‾"
-        else:
-          line += "_"
-      lines.append(line)
-
-    b_rises = [i for i, v in enumerate(b_vals) if v and (i == 0 or not b_vals[i - 1])]
-    m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
-    b_falls = [i for i, v in enumerate(b_vals) if not v and i > 0 and b_vals[i - 1]]
-    m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
-
-    if b_rises and m_rises:
-      delta = m_rises[0] - b_rises[0]
-      if delta:
-        ms = int(abs(delta) * frame_ms)
-        direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
-    if b_falls and m_falls:
-      delta = m_falls[0] - b_falls[0]
-      if delta:
-        ms = int(abs(delta) * frame_ms)
-        direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
-
-  return lines
+  return [f"    {d[1]}: {d[2]} → {d[3]}" for d in diffs]
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):

From 968794fbb69d414f6ba604cdcdd08705608b4755 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:58:19 -0800
Subject: [PATCH 026/117] clean

---
 .github/workflows/tests.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 8e56b02d212..4d9a6cb5d33 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -65,6 +65,7 @@ jobs:
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
       BASE_IMAGE: openpilot-base
+      BUILD: selfdrive/test/docker_build.sh base
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
       RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONPATH=/tmp/openpilot -e GIT_REF -e GITHUB_TOKEN -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/bash -c
     steps:
@@ -80,11 +81,9 @@ jobs:
         fetch-depth: 0
     - run: cd opendbc_repo && git fetch origin master
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build docker
-      run: selfdrive/test/docker_build.sh base
-    - name: Build
+    - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
-    - name: Test
+    - name: Test car diff
       if: github.event_name == 'pull_request'
       run: |
         ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" 2>&1 | tee output.txt

From 8cd4801438abfe503bfc59310f4b022a838784fa Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 17:23:30 -0800
Subject: [PATCH 027/117] no comment on empty output

---
 .github/workflows/tests.yml        | 5 ++---
 opendbc/car/tests/diff/car_diff.py | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 4d9a6cb5d33..1f44f87e605 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,13 +85,12 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: |
-        ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" 2>&1 | tee output.txt
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py"
     - name: Comment PR
       if: github.event_name == 'pull_request' && always()
       env:
         GH_TOKEN: ${{ github.token }}
-      run: gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} --body "$(cat output.txt)"
+      run: '[ -f output.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F output.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 2e4f583d791..df86020591b 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -89,7 +89,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
     platforms = get_changed_platforms(cwd, database, interfaces)
 
   if not platforms:
-    print("No platforms detected from changes")
+    print("No car changes detected", file=sys.stderr)
     return 0
 
   segments = {p: database.get(p, [])[:segments_per_platform] for p in platforms}

From d763d666e207d04a22dfb5f0689526a362ef1547 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 18:43:16 -0800
Subject: [PATCH 028/117] output errors

---
 opendbc/car/tests/diff/car_diff.py | 6 +++---
 opendbc/car/tests/diff/replay.py   | 3 +++
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index df86020591b..0743e0d98d6 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
-import argparse
 import os
+os.environ['LOGPRINT'] = 'ERROR'
+
+import argparse
 import re
 import requests
 import sys
@@ -9,8 +11,6 @@
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
-os.environ['LOGPRINT'] = 'ERROR'
-
 DIFF_BUCKET = "car_diff"
 
 
diff --git a/opendbc/car/tests/diff/replay.py b/opendbc/car/tests/diff/replay.py
index c0a0376955d..3c8c83ac784 100644
--- a/opendbc/car/tests/diff/replay.py
+++ b/opendbc/car/tests/diff/replay.py
@@ -1,3 +1,6 @@
+import os
+os.environ['LOGPRINT'] = 'ERROR'
+
 from pathlib import Path
 
 from opendbc.car.tests.diff.compare import CARSTATE_FIELDS, get_value, differs

From 58f47498c32c5ec148a2130233ec090393a3db83 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 21:10:07 -0800
Subject: [PATCH 029/117] fix pr comment

---
 .github/workflows/tests.yml        | 6 +++---
 opendbc/car/tests/diff/car_diff.py | 4 ++--
 opendbc/car/tests/diff/replay.py   | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 1f44f87e605..00eb5779767 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,12 +85,12 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py"  2>&1 | tee diff.txt
     - name: Comment PR
-      if: github.event_name == 'pull_request' && always()
+      if: github.event_name == 'pull_request'
       env:
         GH_TOKEN: ${{ github.token }}
-      run: '[ -f output.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F output.txt || true'
+      run: '[ -f diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 0743e0d98d6..12f044edc5e 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-os.environ['LOGPRINT'] = 'ERROR'
+os.environ['LOGPRINT'] = 'CRITICAL'
 
 import argparse
 import re
@@ -126,7 +126,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
       for line in format_diff(fd):
         print(line)
     if len(diffs) > 100:
-      print(f"    ... ({len(diffs) - 100} more)")
+      print(f"    ... ({len(set(d[1] for d in diffs))} more)")
 
   return 0
 
diff --git a/opendbc/car/tests/diff/replay.py b/opendbc/car/tests/diff/replay.py
index 3c8c83ac784..45a79caa887 100644
--- a/opendbc/car/tests/diff/replay.py
+++ b/opendbc/car/tests/diff/replay.py
@@ -1,5 +1,5 @@
 import os
-os.environ['LOGPRINT'] = 'ERROR'
+os.environ['LOGPRINT'] = 'CRITICAL'
 
 from pathlib import Path
 

From 55f2ebd844ec507138f4bcd4e310ad350fca5dbc Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 21:20:47 -0800
Subject: [PATCH 030/117] fix diff more

---
 opendbc/car/tests/diff/car_diff.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 12f044edc5e..70b2492534f 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -119,14 +119,14 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   for plat, seg, diffs in with_diffs:
     print(f"\n{plat} - {seg}")
     by_field = defaultdict(list)
-    for d in diffs[:100]:
+    for d in diffs:
       by_field[d[0]].append(d)
     for field, fd in sorted(by_field.items()):
-      print(f"  {field} (frame: master → PR)")
-      for line in format_diff(fd):
+      print(f"  {field} ({len(fd)} diffs)")
+      for line in format_diff(fd[:10]):
         print(line)
-    if len(diffs) > 100:
-      print(f"    ... ({len(set(d[1] for d in diffs))} more)")
+      if len(fd) > 10:
+        print(f"    ... ({len(fd) - 10} more)")
 
   return 0
 

From 804008f19d92415bbd15fc37b3345f5702e62730 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 21:24:22 -0800
Subject: [PATCH 031/117] increase tolerance

---
 opendbc/car/tests/diff/compare.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/diff/compare.py b/opendbc/car/tests/diff/compare.py
index 6b9993be8df..058cba59338 100644
--- a/opendbc/car/tests/diff/compare.py
+++ b/opendbc/car/tests/diff/compare.py
@@ -1,4 +1,4 @@
-TOLERANCE = 1e-3
+TOLERANCE = 1e-2
 
 CARSTATE_FIELDS = [
   "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",

From a716f46a6868432da505d674b6c48594e76d618b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 22:33:19 -0800
Subject: [PATCH 032/117] less files

---
 opendbc/car/tests/diff/car_diff.py |  4 +--
 opendbc/car/tests/diff/compare.py  | 26 --------------
 opendbc/car/tests/diff/loader.py   | 29 ----------------
 opendbc/car/tests/diff/replay.py   | 56 ++++++++++++++++++++++++++++--
 4 files changed, 55 insertions(+), 60 deletions(-)
 delete mode 100644 opendbc/car/tests/diff/compare.py
 delete mode 100644 opendbc/car/tests/diff/loader.py

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index 70b2492534f..b1d2e63d13c 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
-import os
-os.environ['LOGPRINT'] = 'CRITICAL'
-
 import argparse
+import os
 import re
 import requests
 import sys
diff --git a/opendbc/car/tests/diff/compare.py b/opendbc/car/tests/diff/compare.py
deleted file mode 100644
index 058cba59338..00000000000
--- a/opendbc/car/tests/diff/compare.py
+++ /dev/null
@@ -1,26 +0,0 @@
-TOLERANCE = 1e-2
-
-CARSTATE_FIELDS = [
-  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
-  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
-  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
-  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
-  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
-  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
-  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
-  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
-  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
-  "canValid", "canTimeout",
-]
-
-
-def get_value(obj, field):
-  for p in field.split("."):
-    obj = getattr(obj, p, None)
-  return obj.raw if hasattr(obj, "raw") else obj
-
-
-def differs(v1, v2):
-  if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > TOLERANCE
-  return v1 != v2
diff --git a/opendbc/car/tests/diff/loader.py b/opendbc/car/tests/diff/loader.py
deleted file mode 100644
index 0a6b15d12f6..00000000000
--- a/opendbc/car/tests/diff/loader.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import pickle
-import zstandard as zstd
-from pathlib import Path
-
-
-def save_ref(path, states, timestamps):
-  data = list(zip(timestamps, states, strict=True))
-  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
-
-
-def load_ref(path):
-  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
-
-
-def load_can_messages(seg):
-  from opendbc.car.can_definitions import CanData
-  from openpilot.selfdrive.pandad import can_capnp_to_list
-  from openpilot.tools.lib.logreader import LogReader
-  from openpilot.tools.lib.comma_car_segments import get_url
-
-  parts = seg.split("/")
-  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-
-  can_msgs = []
-  for msg in LogReader(url):
-    if msg.which() == "can":
-      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
-  return can_msgs
diff --git a/opendbc/car/tests/diff/replay.py b/opendbc/car/tests/diff/replay.py
index 45a79caa887..2387da89d15 100644
--- a/opendbc/car/tests/diff/replay.py
+++ b/opendbc/car/tests/diff/replay.py
@@ -1,10 +1,62 @@
 import os
 os.environ['LOGPRINT'] = 'CRITICAL'
 
+import pickle
+import zstandard as zstd
 from pathlib import Path
 
-from opendbc.car.tests.diff.compare import CARSTATE_FIELDS, get_value, differs
-from opendbc.car.tests.diff.loader import load_can_messages, load_ref, save_ref
+TOLERANCE = 1e-2
+
+CARSTATE_FIELDS = [
+  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
+  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
+  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
+  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
+  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
+  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
+  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
+  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
+  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
+  "canValid", "canTimeout",
+]
+
+
+def get_value(obj, field):
+  for p in field.split("."):
+    obj = getattr(obj, p, None)
+  return obj.raw if hasattr(obj, "raw") else obj
+
+
+def differs(v1, v2):
+  if isinstance(v1, float) and isinstance(v2, float):
+    return abs(v1 - v2) > TOLERANCE
+  return v1 != v2
+
+
+def save_ref(path, states, timestamps):
+  data = list(zip(timestamps, states, strict=True))
+  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
+
+
+def load_ref(path):
+  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
+
+
+def load_can_messages(seg):
+  from opendbc.car.can_definitions import CanData
+  from openpilot.selfdrive.pandad import can_capnp_to_list
+  from openpilot.tools.lib.logreader import LogReader
+  from openpilot.tools.lib.comma_car_segments import get_url
+
+  parts = seg.split("/")
+  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
+
+  can_msgs = []
+  for msg in LogReader(url):
+    if msg.which() == "can":
+      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
+  return can_msgs
 
 
 def replay_segment(platform, can_msgs):

From bc8c3027815ef89b7a15e6fd9fca79224745132c Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 22:54:23 -0800
Subject: [PATCH 033/117] one file

---
 opendbc/car/tests/diff/car_diff.py | 106 ++++++++++++++++++++++++++++-
 opendbc/car/tests/diff/replay.py   | 106 -----------------------------
 2 files changed, 104 insertions(+), 108 deletions(-)
 delete mode 100644 opendbc/car/tests/diff/replay.py

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index b1d2e63d13c..f68835c4724 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -1,15 +1,118 @@
 #!/usr/bin/env python3
-import argparse
 import os
+os.environ['LOGPRINT'] = 'CRITICAL'
+
+import argparse
+import pickle
 import re
 import requests
 import sys
 import tempfile
+import zstandard as zstd
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
 DIFF_BUCKET = "car_diff"
+TOLERANCE = 1e-2
+
+CARSTATE_FIELDS = [
+  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
+  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
+  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
+  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
+  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
+  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
+  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
+  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
+  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
+  "canValid", "canTimeout",
+]
+
+
+def get_value(obj, field):
+  for p in field.split("."):
+    obj = getattr(obj, p, None)
+  return obj.raw if hasattr(obj, "raw") else obj
+
+
+def differs(v1, v2):
+  if isinstance(v1, float) and isinstance(v2, float):
+    return abs(v1 - v2) > TOLERANCE
+  return v1 != v2
+
+
+def save_ref(path, states, timestamps):
+  data = list(zip(timestamps, states, strict=True))
+  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
+
+
+def load_ref(path):
+  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
+
+
+def load_can_messages(seg):
+  from opendbc.car.can_definitions import CanData
+  from openpilot.selfdrive.pandad import can_capnp_to_list
+  from openpilot.tools.lib.logreader import LogReader
+  from openpilot.tools.lib.comma_car_segments import get_url
+
+  parts = seg.split("/")
+  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
+
+  can_msgs = []
+  for msg in LogReader(url):
+    if msg.which() == "can":
+      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
+  return can_msgs
+
+
+def replay_segment(platform, can_msgs):
+  from opendbc.car import gen_empty_fingerprint, structs
+  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+
+  fingerprint = gen_empty_fingerprint()
+  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
+    for msg in frames:
+      if msg.src < 64:
+        fingerprint[msg.src][msg.address] = len(msg.dat)
+
+  CarInterface = interfaces[platform]
+  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
+  car_control = structs.CarControl().as_reader()
+
+  states = []
+  timestamps = []
+  for ts, frames in can_msgs:
+    states.append(car_interface.update([(ts, frames)]))
+    car_interface.apply(car_control, ts)
+    timestamps.append(ts)
+  return states, timestamps
+
+
+def process_segment(args):
+  platform, seg, ref_path, update = args
+  try:
+    can_msgs = load_can_messages(seg)
+    states, timestamps = replay_segment(platform, can_msgs)
+    ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
+
+    if update:
+      save_ref(ref_file, states, timestamps)
+      return (platform, seg, [], None)
+
+    if not ref_file.exists():
+      return (platform, seg, [], "no ref")
+
+    ref = load_ref(ref_file)
+    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
+             for field in CARSTATE_FIELDS
+             if differs(get_value(state, field), get_value(ref_state, field))]
+    return (platform, seg, diffs, None)
+  except Exception as e:
+    return (platform, seg, [], str(e))
 
 
 def bucket_is_empty():
@@ -62,7 +165,6 @@ def format_diff(diffs):
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):
-  from opendbc.car.tests.diff.replay import process_segment
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
   with ProcessPoolExecutor(max_workers=workers) as pool:
diff --git a/opendbc/car/tests/diff/replay.py b/opendbc/car/tests/diff/replay.py
deleted file mode 100644
index 2387da89d15..00000000000
--- a/opendbc/car/tests/diff/replay.py
+++ /dev/null
@@ -1,106 +0,0 @@
-import os
-os.environ['LOGPRINT'] = 'CRITICAL'
-
-import pickle
-import zstandard as zstd
-from pathlib import Path
-
-TOLERANCE = 1e-2
-
-CARSTATE_FIELDS = [
-  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
-  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
-  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
-  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
-  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
-  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
-  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
-  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
-  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
-  "canValid", "canTimeout",
-]
-
-
-def get_value(obj, field):
-  for p in field.split("."):
-    obj = getattr(obj, p, None)
-  return obj.raw if hasattr(obj, "raw") else obj
-
-
-def differs(v1, v2):
-  if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > TOLERANCE
-  return v1 != v2
-
-
-def save_ref(path, states, timestamps):
-  data = list(zip(timestamps, states, strict=True))
-  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
-
-
-def load_ref(path):
-  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
-
-
-def load_can_messages(seg):
-  from opendbc.car.can_definitions import CanData
-  from openpilot.selfdrive.pandad import can_capnp_to_list
-  from openpilot.tools.lib.logreader import LogReader
-  from openpilot.tools.lib.comma_car_segments import get_url
-
-  parts = seg.split("/")
-  url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-
-  can_msgs = []
-  for msg in LogReader(url):
-    if msg.which() == "can":
-      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
-  return can_msgs
-
-
-def replay_segment(platform, can_msgs):
-  from opendbc.car import gen_empty_fingerprint, structs
-  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-
-  fingerprint = gen_empty_fingerprint()
-  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
-    for msg in frames:
-      if msg.src < 64:
-        fingerprint[msg.src][msg.address] = len(msg.dat)
-
-  CarInterface = interfaces[platform]
-  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
-  car_control = structs.CarControl().as_reader()
-
-  states = []
-  timestamps = []
-  for ts, frames in can_msgs:
-    states.append(car_interface.update([(ts, frames)]))
-    car_interface.apply(car_control, ts)
-    timestamps.append(ts)
-  return states, timestamps
-
-
-def process_segment(args):
-  platform, seg, ref_path, update = args
-  try:
-    can_msgs = load_can_messages(seg)
-    states, timestamps = replay_segment(platform, can_msgs)
-    ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
-
-    if update:
-      save_ref(ref_file, states, timestamps)
-      return (platform, seg, [], None)
-
-    if not ref_file.exists():
-      return (platform, seg, [], "no ref")
-
-    ref = load_ref(ref_file)
-    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
-             for field in CARSTATE_FIELDS
-             if differs(get_value(state, field), get_value(ref_state, field))]
-    return (platform, seg, diffs, None)
-  except Exception as e:
-    return (platform, seg, [], str(e))

From 021eec421acd80866cb3eb05c42327b7d0233fa3 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 16:46:12 -0800
Subject: [PATCH 034/117] Revert "FORK TEST"

This reverts commit fc691b500c58e76a41c8f5785b6acf89ff4e1573.
---
 opendbc/car/tests/diff/car_diff.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index f68835c4724..a12bf4156e9 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -117,7 +117,7 @@ def process_segment(args):
 
 def bucket_is_empty():
   from openpilot.tools.lib.github_utils import GithubUtils
-  return requests.head(GithubUtils(None, None, "elkoled").get_bucket_link(DIFF_BUCKET)).status_code != 200
+  return requests.head(GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)).status_code != 200
 
 
 def get_changed_platforms(cwd, database, interfaces):
@@ -137,7 +137,7 @@ def get_changed_platforms(cwd, database, interfaces):
 
 def download_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, None, "elkoled")
+  gh = GithubUtils(None, None)
   base_url = gh.get_bucket_link(DIFF_BUCKET)
   for platform in platforms:
     for seg in segments.get(platform, []):
@@ -149,7 +149,7 @@ def download_refs(ref_path, platforms, segments):
 
 def upload_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"), "elkoled")
+  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"))
   files = []
   for platform in platforms:
     for seg in segments.get(platform, []):

From 2b51f63645854f24ddeb56a68fe93fea1792f7d7 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 23:25:54 -0800
Subject: [PATCH 035/117] Revert "fix mutation test"

This reverts commit 8f5e01de7743ee38c340df90751cf370634fe2b2.
---
 opendbc/safety/tests/test_tesla.py | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index bd9c85a3b6c..52390f81aa8 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -165,20 +165,6 @@ def test_rx_hook(self):
         self.assertEqual(should_rx, self._rx(msg))
         self.assertEqual(should_rx, self.safety.get_controls_allowed())
 
-  def test_checksum(self):
-    msgs = [
-      self._speed_msg(0),
-      self._user_gas_msg(0),
-      self._user_brake_msg(False),
-      self._pcm_status_msg(False),
-      self.packer.make_can_msg_safety("UI_warning", 0, {}),
-    ]
-    for msg in msgs:
-      self.assertTrue(self._rx(msg))
-      # invalidate checksum
-      msg[0].data[0] = (msg[0].data[0] + 1) & 0xFF
-      self.assertFalse(self._rx(msg))
-
   def test_vehicle_speed_measurements(self):
     # OVERRIDDEN: 79.1667 is the max speed in m/s
     self._common_measurement_test(self._speed_msg, 0, 285 / 3.6, 1,

From c4dc49a63462609b581d56da450f7840b5b529df Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 11:53:08 -0800
Subject: [PATCH 036/117] fix comment

---
 .github/workflows/tests.yml        |  4 ++--
 opendbc/car/tests/diff/car_diff.py | 11 +++++------
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 00eb5779767..b6856150fb0 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,12 +85,12 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py"  2>&1 | tee diff.txt
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
         GH_TOKEN: ${{ github.token }}
-      run: '[ -f diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
+      run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index a12bf4156e9..c6935e94c7b 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -137,8 +137,7 @@ def get_changed_platforms(cwd, database, interfaces):
 
 def download_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, None)
-  base_url = gh.get_bucket_link(DIFF_BUCKET)
+  base_url = GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
@@ -160,10 +159,6 @@ def upload_refs(ref_path, platforms, segments):
   gh.upload_files(DIFF_BUCKET, files)
 
 
-def format_diff(diffs):
-  return [f"    {d[1]}: {d[2]} → {d[3]}" for d in diffs]
-
-
 def run_replay(platforms, segments, ref_path, update, workers=8):
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
@@ -171,6 +166,10 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
+def format_diff(diffs):
+  return [f"    {d[1]}: {d[2]} -> {d[3]}" for d in diffs]
+
+
 def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database

From 11c5d08fbdf21d355c06fa25ddcaea7714c30a39 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 11:53:08 -0800
Subject: [PATCH 037/117] fix comment

---
 .github/workflows/tests.yml        |  4 ++--
 opendbc/car/tests/diff/car_diff.py | 11 +++++------
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 00eb5779767..b6856150fb0 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,12 +85,12 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py"  2>&1 | tee diff.txt
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
         GH_TOKEN: ${{ github.token }}
-      run: '[ -f diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
+      run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
       env:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/diff/car_diff.py
index f68835c4724..b0e248e9fc8 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/diff/car_diff.py
@@ -137,8 +137,7 @@ def get_changed_platforms(cwd, database, interfaces):
 
 def download_refs(ref_path, platforms, segments):
   from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, None, "elkoled")
-  base_url = gh.get_bucket_link(DIFF_BUCKET)
+  base_url = GithubUtils(None, None, "elkoled").get_bucket_link(DIFF_BUCKET)
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
@@ -160,10 +159,6 @@ def upload_refs(ref_path, platforms, segments):
   gh.upload_files(DIFF_BUCKET, files)
 
 
-def format_diff(diffs):
-  return [f"    {d[1]}: {d[2]} → {d[3]}" for d in diffs]
-
-
 def run_replay(platforms, segments, ref_path, update, workers=8):
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
@@ -171,6 +166,10 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
+def format_diff(diffs):
+  return [f"    {d[1]}: {d[2]} -> {d[3]}" for d in diffs]
+
+
 def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database

From a96a243aaec3eb652a1989ec16301e94b0a400fd Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 14:04:30 -0800
Subject: [PATCH 038/117] move car_diff.py

---
 .github/workflows/tests.yml              | 4 ++--
 opendbc/car/tests/{diff => }/car_diff.py | 5 ++---
 opendbc/car/tests/diff/__init__.py       | 0
 3 files changed, 4 insertions(+), 5 deletions(-)
 rename opendbc/car/tests/{diff => }/car_diff.py (99%)
 delete mode 100644 opendbc/car/tests/diff/__init__.py

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index b6856150fb0..f6d6b41a8da 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,7 +85,7 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" | tee diff.txt
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py" | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
@@ -95,7 +95,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       env:
         GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py --update-refs"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
 
   # TODO: this needs to move to opendbc
   test_models:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/car_diff.py
similarity index 99%
rename from opendbc/car/tests/diff/car_diff.py
rename to opendbc/car/tests/car_diff.py
index b0e248e9fc8..9a49d558428 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -82,8 +82,7 @@ def replay_segment(platform, can_msgs):
   car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
   car_control = structs.CarControl().as_reader()
 
-  states = []
-  timestamps = []
+  states, timestamps = [], []
   for ts, frames in can_msgs:
     states.append(car_interface.update([(ts, frames)]))
     car_interface.apply(car_control, ts)
@@ -174,7 +173,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
-  cwd = Path(__file__).resolve().parents[4]
+  cwd = Path(__file__).resolve().parents[3]
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
 
diff --git a/opendbc/car/tests/diff/__init__.py b/opendbc/car/tests/diff/__init__.py
deleted file mode 100644
index e69de29bb2d..00000000000

From 5eeae96c29ead1c5a6c3bd0c1c812df30c19dc5b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 12 Jan 2026 23:25:54 -0800
Subject: [PATCH 039/117] Revert "fix mutation test"

This reverts commit 8f5e01de7743ee38c340df90751cf370634fe2b2.
---
 opendbc/safety/tests/test_tesla.py | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index bd9c85a3b6c..52390f81aa8 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -165,20 +165,6 @@ def test_rx_hook(self):
         self.assertEqual(should_rx, self._rx(msg))
         self.assertEqual(should_rx, self.safety.get_controls_allowed())
 
-  def test_checksum(self):
-    msgs = [
-      self._speed_msg(0),
-      self._user_gas_msg(0),
-      self._user_brake_msg(False),
-      self._pcm_status_msg(False),
-      self.packer.make_can_msg_safety("UI_warning", 0, {}),
-    ]
-    for msg in msgs:
-      self.assertTrue(self._rx(msg))
-      # invalidate checksum
-      msg[0].data[0] = (msg[0].data[0] + 1) & 0xFF
-      self.assertFalse(self._rx(msg))
-
   def test_vehicle_speed_measurements(self):
     # OVERRIDDEN: 79.1667 is the max speed in m/s
     self._common_measurement_test(self._speed_msg, 0, 285 / 3.6, 1,

From 171d2e490867baf13006a8cfdbe834a19814d42e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 14:04:30 -0800
Subject: [PATCH 040/117] move car_diff.py

---
 .github/workflows/tests.yml              | 4 ++--
 opendbc/car/tests/{diff => }/car_diff.py | 5 ++---
 opendbc/car/tests/diff/__init__.py       | 0
 3 files changed, 4 insertions(+), 5 deletions(-)
 rename opendbc/car/tests/{diff => }/car_diff.py (99%)
 delete mode 100644 opendbc/car/tests/diff/__init__.py

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index b6856150fb0..f6d6b41a8da 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -85,7 +85,7 @@ jobs:
       run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py" | tee diff.txt
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py" | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
@@ -95,7 +95,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       env:
         GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/diff/car_diff.py --update-refs"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
 
   # TODO: this needs to move to opendbc
   test_models:
diff --git a/opendbc/car/tests/diff/car_diff.py b/opendbc/car/tests/car_diff.py
similarity index 99%
rename from opendbc/car/tests/diff/car_diff.py
rename to opendbc/car/tests/car_diff.py
index c6935e94c7b..849949d3eda 100644
--- a/opendbc/car/tests/diff/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -82,8 +82,7 @@ def replay_segment(platform, can_msgs):
   car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
   car_control = structs.CarControl().as_reader()
 
-  states = []
-  timestamps = []
+  states, timestamps = [], []
   for ts, frames in can_msgs:
     states.append(car_interface.update([(ts, frames)]))
     car_interface.apply(car_control, ts)
@@ -174,7 +173,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
-  cwd = Path(__file__).resolve().parents[4]
+  cwd = Path(__file__).resolve().parents[3]
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
 
diff --git a/opendbc/car/tests/diff/__init__.py b/opendbc/car/tests/diff/__init__.py
deleted file mode 100644
index e69de29bb2d..00000000000

From 8dab7800410f6d622cb87b101fa196edc56489a5 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 15:15:12 -0800
Subject: [PATCH 041/117] inline helpers

---
 opendbc/car/tests/car_diff.py | 39 ++++++++++++-----------------------
 1 file changed, 13 insertions(+), 26 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 849949d3eda..69f98ebc44b 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -33,7 +33,7 @@
 def get_value(obj, field):
   for p in field.split("."):
     obj = getattr(obj, p, None)
-  return obj.raw if hasattr(obj, "raw") else obj
+  return getattr(obj, "raw", obj)
 
 
 def differs(v1, v2):
@@ -42,15 +42,6 @@ def differs(v1, v2):
   return v1 != v2
 
 
-def save_ref(path, states, timestamps):
-  data = list(zip(timestamps, states, strict=True))
-  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
-
-
-def load_ref(path):
-  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
-
-
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
   from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -98,15 +89,16 @@ def process_segment(args):
     ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
 
     if update:
-      save_ref(ref_file, states, timestamps)
+      data = list(zip(timestamps, states))
+      ref_file.write_bytes(zstd.compress(pickle.dumps(data)))
       return (platform, seg, [], None)
 
     if not ref_file.exists():
       return (platform, seg, [], "no ref")
 
-    ref = load_ref(ref_file)
+    ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
     diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states))
              for field in CARSTATE_FIELDS
              if differs(get_value(state, field), get_value(ref_state, field))]
     return (platform, seg, diffs, None)
@@ -124,14 +116,13 @@ def get_changed_platforms(cwd, database, interfaces):
   git_ref = os.environ.get("GIT_REF", "origin/master")
   changed = run_cmd(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd)
   brands = set()
+  patterns = [r"opendbc/car/(\w+)/", r"opendbc/dbc/(\w+)_", r"opendbc/safety/modes/(\w+)[_.]"]
   for line in changed.splitlines():
-    if m := re.search(r"opendbc/car/(\w+)/", line):
-      brands.add(m.group(1))
-    if m := re.search(r"opendbc/dbc/(\w+)_", line):
-      brands.add(m.group(1).lower())
-    if m := re.search(r"opendbc/safety/modes/(\w+)[_.]", line):
-      brands.add(m.group(1).lower())
-  return [p for p in interfaces if any(b.upper() in p for b in brands) and p in database]
+    for pattern in patterns:
+      m = re.search(pattern, line)
+      if m:
+        brands.add(m.group(1).lower())
+  return [p for p in interfaces if any(b in p.lower() for b in brands) and p in database]
 
 
 def download_refs(ref_path, platforms, segments):
@@ -165,10 +156,6 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def format_diff(diffs):
-  return [f"    {d[1]}: {d[2]} -> {d[3]}" for d in diffs]
-
-
 def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
@@ -221,8 +208,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
       by_field[d[0]].append(d)
     for field, fd in sorted(by_field.items()):
       print(f"  {field} ({len(fd)} diffs)")
-      for line in format_diff(fd[:10]):
-        print(line)
+      for d in fd[:10]:
+        print(f"    {d[1]}: {d[2]} -> {d[3]}")
       if len(fd) > 10:
         print(f"    ... ({len(fd) - 10} more)")
 

From 159f8cb86c5c4e000b706a65864cdf0cb552bf9e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 15:15:12 -0800
Subject: [PATCH 042/117] inline helpers

---
 opendbc/car/tests/car_diff.py | 39 ++++++++++++-----------------------
 1 file changed, 13 insertions(+), 26 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 9a49d558428..636e195c9fb 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -33,7 +33,7 @@
 def get_value(obj, field):
   for p in field.split("."):
     obj = getattr(obj, p, None)
-  return obj.raw if hasattr(obj, "raw") else obj
+  return getattr(obj, "raw", obj)
 
 
 def differs(v1, v2):
@@ -42,15 +42,6 @@ def differs(v1, v2):
   return v1 != v2
 
 
-def save_ref(path, states, timestamps):
-  data = list(zip(timestamps, states, strict=True))
-  Path(path).write_bytes(zstd.compress(pickle.dumps(data)))
-
-
-def load_ref(path):
-  return pickle.loads(zstd.decompress(Path(path).read_bytes()))
-
-
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
   from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -98,15 +89,16 @@ def process_segment(args):
     ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
 
     if update:
-      save_ref(ref_file, states, timestamps)
+      data = list(zip(timestamps, states))
+      ref_file.write_bytes(zstd.compress(pickle.dumps(data)))
       return (platform, seg, [], None)
 
     if not ref_file.exists():
       return (platform, seg, [], "no ref")
 
-    ref = load_ref(ref_file)
+    ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
     diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states))
              for field in CARSTATE_FIELDS
              if differs(get_value(state, field), get_value(ref_state, field))]
     return (platform, seg, diffs, None)
@@ -124,14 +116,13 @@ def get_changed_platforms(cwd, database, interfaces):
   git_ref = os.environ.get("GIT_REF", "origin/master")
   changed = run_cmd(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd)
   brands = set()
+  patterns = [r"opendbc/car/(\w+)/", r"opendbc/dbc/(\w+)_", r"opendbc/safety/modes/(\w+)[_.]"]
   for line in changed.splitlines():
-    if m := re.search(r"opendbc/car/(\w+)/", line):
-      brands.add(m.group(1))
-    if m := re.search(r"opendbc/dbc/(\w+)_", line):
-      brands.add(m.group(1).lower())
-    if m := re.search(r"opendbc/safety/modes/(\w+)[_.]", line):
-      brands.add(m.group(1).lower())
-  return [p for p in interfaces if any(b.upper() in p for b in brands) and p in database]
+    for pattern in patterns:
+      m = re.search(pattern, line)
+      if m:
+        brands.add(m.group(1).lower())
+  return [p for p in interfaces if any(b in p.lower() for b in brands) and p in database]
 
 
 def download_refs(ref_path, platforms, segments):
@@ -165,10 +156,6 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def format_diff(diffs):
-  return [f"    {d[1]}: {d[2]} -> {d[3]}" for d in diffs]
-
-
 def main(platform=None, segments_per_platform=10, update_refs=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
@@ -221,8 +208,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
       by_field[d[0]].append(d)
     for field, fd in sorted(by_field.items()):
       print(f"  {field} ({len(fd)} diffs)")
-      for line in format_diff(fd[:10]):
-        print(line)
+      for d in fd[:10]:
+        print(f"    {d[1]}: {d[2]} -> {d[3]}")
       if len(fd) > 10:
         print(f"    ... ({len(fd) - 10} more)")
 

From 4da42ac8a233e5930945807c320dddf385cfa6e1 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 15:40:29 -0800
Subject: [PATCH 043/117] fix ruff

---
 opendbc/car/tests/car_diff.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 636e195c9fb..0462827a19b 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -89,7 +89,7 @@ def process_segment(args):
     ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
 
     if update:
-      data = list(zip(timestamps, states))
+      data = list(zip(timestamps, states, strict=True))
       ref_file.write_bytes(zstd.compress(pickle.dumps(data)))
       return (platform, seg, [], None)
 
@@ -98,7 +98,7 @@ def process_segment(args):
 
     ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
     diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states))
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
              for field in CARSTATE_FIELDS
              if differs(get_value(state, field), get_value(ref_state, field))]
     return (platform, seg, diffs, None)

From 7927248c2ec0f09ce7bc3bd7ede1feaf4b94aa6d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 15:40:29 -0800
Subject: [PATCH 044/117] fix ruff

---
 opendbc/car/tests/car_diff.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 69f98ebc44b..bd455f30688 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -89,7 +89,7 @@ def process_segment(args):
     ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
 
     if update:
-      data = list(zip(timestamps, states))
+      data = list(zip(timestamps, states, strict=True))
       ref_file.write_bytes(zstd.compress(pickle.dumps(data)))
       return (platform, seg, [], None)
 
@@ -98,7 +98,7 @@ def process_segment(args):
 
     ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
     diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states))
+             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
              for field in CARSTATE_FIELDS
              if differs(get_value(state, field), get_value(ref_state, field))]
     return (platform, seg, diffs, None)

From f4f684e10750894017b02855b51751285a195640 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 16:44:38 -0800
Subject: [PATCH 045/117] use all carstate fields

---
 opendbc/car/tests/car_diff.py | 38 ++++++++---------------------------
 1 file changed, 8 insertions(+), 30 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 0462827a19b..73e36b843d5 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -9,37 +9,14 @@
 import sys
 import tempfile
 import zstandard as zstd
+import dictdiffer
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
 DIFF_BUCKET = "car_diff"
 TOLERANCE = 1e-2
-
-CARSTATE_FIELDS = [
-  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
-  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
-  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
-  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
-  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
-  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
-  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
-  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
-  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
-  "canValid", "canTimeout",
-]
-
-
-def get_value(obj, field):
-  for p in field.split("."):
-    obj = getattr(obj, p, None)
-  return getattr(obj, "raw", obj)
-
-
-def differs(v1, v2):
-  if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > TOLERANCE
-  return v1 != v2
+IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 
 
 def load_can_messages(seg):
@@ -97,10 +74,11 @@ def process_segment(args):
       return (platform, seg, [], "no ref")
 
     ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
-    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
-             for field in CARSTATE_FIELDS
-             if differs(get_value(state, field), get_value(ref_state, field))]
+    diffs = []
+    for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
+      for diff in dictdiffer.diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
+        if diff[0] == "change":  # ignore add/remove from schema changes
+          diffs.append((str(diff[1]), i, diff[2], ts))
     return (platform, seg, diffs, None)
   except Exception as e:
     return (platform, seg, [], str(e))
@@ -209,7 +187,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
     for field, fd in sorted(by_field.items()):
       print(f"  {field} ({len(fd)} diffs)")
       for d in fd[:10]:
-        print(f"    {d[1]}: {d[2]} -> {d[3]}")
+        print(f"    {d[1]}: {d[2][0]} -> {d[2][1]}")
       if len(fd) > 10:
         print(f"    ... ({len(fd) - 10} more)")
 

From 833ff1e2dc8ae380f0993b2121849c82d9d0e3f5 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 17:08:44 -0800
Subject: [PATCH 046/117] add --all

---
 opendbc/car/tests/car_diff.py | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 73e36b843d5..c5059f5df32 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -84,11 +84,6 @@ def process_segment(args):
     return (platform, seg, [], str(e))
 
 
-def bucket_is_empty():
-  from openpilot.tools.lib.github_utils import GithubUtils
-  return requests.head(GithubUtils(None, None, "elkoled").get_bucket_link(DIFF_BUCKET)).status_code != 200
-
-
 def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
@@ -134,7 +129,7 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def main(platform=None, segments_per_platform=10, update_refs=False):
+def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
@@ -142,13 +137,12 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
 
-  if update_refs and bucket_is_empty():
-    print("Bootstrapping all platforms...")
+  if all_platforms:
+    print("Running all platforms...")
     platforms = [p for p in interfaces if p in database]
   elif platform and platform in interfaces:
     platforms = [platform]
   else:
-    # auto detect platform changes by default
     platforms = get_changed_platforms(cwd, database, interfaces)
 
   if not platforms:
@@ -199,5 +193,6 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   parser.add_argument("--platform", help="diff single platform")
   parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to diff per platform")
   parser.add_argument("--update-refs", action="store_true", help="update refs based on current commit")
+  parser.add_argument("--all", action="store_true", help="run diff on all platforms")
   args = parser.parse_args()
-  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs))
+  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.all))

From 4d0ee9afb2f418d0643c62a4b102f21171e23335 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 16:44:38 -0800
Subject: [PATCH 047/117] use all carstate fields

---
 opendbc/car/tests/car_diff.py | 38 ++++++++---------------------------
 1 file changed, 8 insertions(+), 30 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index bd455f30688..0d19ac68379 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -9,37 +9,14 @@
 import sys
 import tempfile
 import zstandard as zstd
+import dictdiffer
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
 
 DIFF_BUCKET = "car_diff"
 TOLERANCE = 1e-2
-
-CARSTATE_FIELDS = [
-  "vEgo", "aEgo", "vEgoRaw", "yawRate", "standstill",
-  "gasPressed", "brake", "brakePressed", "regenBraking", "parkingBrake", "brakeHoldActive",
-  "steeringAngleDeg", "steeringAngleOffsetDeg", "steeringRateDeg", "steeringTorque", "steeringTorqueEps",
-  "steeringPressed", "steerFaultTemporary", "steerFaultPermanent",
-  "stockAeb", "stockFcw", "stockLkas", "espDisabled", "espActive", "accFaulted",
-  "cruiseState.enabled", "cruiseState.available", "cruiseState.speed", "cruiseState.standstill",
-  "cruiseState.nonAdaptive", "cruiseState.speedCluster",
-  "gearShifter", "leftBlinker", "rightBlinker", "genericToggle",
-  "doorOpen", "seatbeltUnlatched", "leftBlindspot", "rightBlindspot",
-  "canValid", "canTimeout",
-]
-
-
-def get_value(obj, field):
-  for p in field.split("."):
-    obj = getattr(obj, p, None)
-  return getattr(obj, "raw", obj)
-
-
-def differs(v1, v2):
-  if isinstance(v1, float) and isinstance(v2, float):
-    return abs(v1 - v2) > TOLERANCE
-  return v1 != v2
+IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 
 
 def load_can_messages(seg):
@@ -97,10 +74,11 @@ def process_segment(args):
       return (platform, seg, [], "no ref")
 
     ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
-    diffs = [(field, i, get_value(ref_state, field), get_value(state, field), ts)
-             for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True))
-             for field in CARSTATE_FIELDS
-             if differs(get_value(state, field), get_value(ref_state, field))]
+    diffs = []
+    for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
+      for diff in dictdiffer.diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
+        if diff[0] == "change":  # ignore add/remove from schema changes
+          diffs.append((str(diff[1]), i, diff[2], ts))
     return (platform, seg, diffs, None)
   except Exception as e:
     return (platform, seg, [], str(e))
@@ -209,7 +187,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
     for field, fd in sorted(by_field.items()):
       print(f"  {field} ({len(fd)} diffs)")
       for d in fd[:10]:
-        print(f"    {d[1]}: {d[2]} -> {d[3]}")
+        print(f"    {d[1]}: {d[2][0]} -> {d[2][1]}")
       if len(fd) > 10:
         print(f"    ... ({len(fd) - 10} more)")
 

From 2c2d2903cfed4e3ced00b2034da2ce33a2a78230 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 17:08:44 -0800
Subject: [PATCH 048/117] add --all

---
 opendbc/car/tests/car_diff.py | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 0d19ac68379..65f3279a38d 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -84,11 +84,6 @@ def process_segment(args):
     return (platform, seg, [], str(e))
 
 
-def bucket_is_empty():
-  from openpilot.tools.lib.github_utils import GithubUtils
-  return requests.head(GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)).status_code != 200
-
-
 def get_changed_platforms(cwd, database, interfaces):
   from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
@@ -134,7 +129,7 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
-def main(platform=None, segments_per_platform=10, update_refs=False):
+def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
@@ -142,13 +137,12 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   ref_path = tempfile.mkdtemp(prefix="car_ref_")
   database = get_comma_car_segments_database()
 
-  if update_refs and bucket_is_empty():
-    print("Bootstrapping all platforms...")
+  if all_platforms:
+    print("Running all platforms...")
     platforms = [p for p in interfaces if p in database]
   elif platform and platform in interfaces:
     platforms = [platform]
   else:
-    # auto detect platform changes by default
     platforms = get_changed_platforms(cwd, database, interfaces)
 
   if not platforms:
@@ -199,5 +193,6 @@ def main(platform=None, segments_per_platform=10, update_refs=False):
   parser.add_argument("--platform", help="diff single platform")
   parser.add_argument("--segments-per-platform", type=int, default=10, help="number of segments to diff per platform")
   parser.add_argument("--update-refs", action="store_true", help="update refs based on current commit")
+  parser.add_argument("--all", action="store_true", help="run diff on all platforms")
   args = parser.parse_args()
-  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs))
+  sys.exit(main(args.platform, args.segments_per_platform, args.update_refs, args.all))

From a9d19bdc4a43c8e24a1ff9063efaee74f56745aa Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 20:09:20 -0800
Subject: [PATCH 049/117] bootstrap

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f6d6b41a8da..d061c0b77d2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -92,10 +92,10 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master' || github.head_ref == 'car_diff'
       env:
         GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs --all"
 
   # TODO: this needs to move to opendbc
   test_models:

From c3c2ba41e8d1dbdeb74cef8498caf9fd13325fe3 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 20:09:20 -0800
Subject: [PATCH 050/117] bootstrap

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f6d6b41a8da..69d4cc25523 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -92,10 +92,10 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master' || github.head_ref == 'opendbc_replay'
       env:
         GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs --all"
 
   # TODO: this needs to move to opendbc
   test_models:

From 71482ea607d534a1da97cee2a1e99dfb8fa94f5f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 20:59:06 -0800
Subject: [PATCH 051/117] Revert "bootstrap"

This reverts commit c3c2ba41e8d1dbdeb74cef8498caf9fd13325fe3.
---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 69d4cc25523..f6d6b41a8da 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -92,10 +92,10 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      if: github.ref == 'refs/heads/master' || github.head_ref == 'opendbc_replay'
+      if: github.ref == 'refs/heads/master'
       env:
         GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs --all"
+      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
 
   # TODO: this needs to move to opendbc
   test_models:

From 85e55c0f77a276d9209d5bf1d1470a6c90d497f2 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 21:02:48 -0800
Subject: [PATCH 052/117] add line formatting

---
 opendbc/car/tests/car_diff.py | 99 +++++++++++++++++++++++++++++++++--
 1 file changed, 95 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 65f3279a38d..63ebc3b58d3 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -129,6 +129,99 @@ def run_replay(platforms, segments, ref_path, update, workers=8):
     return list(pool.map(process_segment, work))
 
 
+def format_diff(diffs):
+  if not diffs:
+    return []
+  if not all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs):
+    return [f"    frame {d[1]}: {d[2]} -> {d[3]}" for d in diffs[:10]]
+
+  lines = []
+  ranges, cur = [], [diffs[0]]
+  for d in diffs[1:]:
+    if d[1] <= cur[-1][1] + 15:
+      cur.append(d)
+    else:
+      ranges.append(cur)
+      cur = [d]
+  ranges.append(cur)
+
+  for rdiffs in ranges:
+    t0, t1 = max(0, rdiffs[0][1] - 5), rdiffs[-1][1] + 6
+    diff_map = {d[1]: d for d in rdiffs}
+
+    b_vals, m_vals, ts_map = [], [], {}
+    first, last = rdiffs[0], rdiffs[-1]
+    if first[2] and not first[3]:
+      b_st, m_st = False, False
+    elif not first[2] and first[3]:
+      b_st, m_st = True, True
+    else:
+      b_st, m_st = False, False
+
+    converge_frame = last[1] + 1
+    converge_val = last[2]
+
+    for f in range(t0, t1):
+      if f in diff_map:
+        b_st, m_st = diff_map[f][2], diff_map[f][3]
+        if len(diff_map[f]) > 4:
+          ts_map[f] = diff_map[f][4]
+      elif f >= converge_frame:
+        b_st = m_st = converge_val
+      b_vals.append(b_st)
+      m_vals.append(m_st)
+
+    ts_start = ts_map.get(t0, rdiffs[0][4] if len(rdiffs[0]) > 4 else 0)
+    ts_end = ts_map.get(t1 - 1, rdiffs[-1][4] if len(rdiffs[-1]) > 4 else 0)
+    t0_sec = ts_start / 1e9
+    t1_sec = ts_end / 1e9
+
+    # ms per frame from timestamps
+    if len(ts_map) >= 2:
+      ts_vals = sorted(ts_map.items())
+      frame_ms = (ts_vals[-1][1] - ts_vals[0][1]) / 1e6 / (ts_vals[-1][0] - ts_vals[0][0])
+    else:
+      frame_ms = 10
+
+    lines.append(f"\n  frames {t0}-{t1-1}")
+    pad = 12
+    init_b = not (first[2] and not first[3])
+    init_m = not first[2] and first[3]
+    for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
+      line = f"  {label}:".ljust(pad)
+      for i, v in enumerate(vals):
+        pv = vals[i - 1] if i > 0 else init
+        if v and not pv:
+          line += "/"
+        elif not v and pv:
+          line += "\\"
+        elif v:
+          line += "‾"
+        else:
+          line += "_"
+      lines.append(line)
+
+    b_rises = [i for i, v in enumerate(b_vals) if v and (i == 0 or not b_vals[i - 1])]
+    m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
+    b_falls = [i for i, v in enumerate(b_vals) if not v and i > 0 and b_vals[i - 1]]
+    m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
+
+    if b_rises and m_rises:
+      delta = m_rises[0] - b_rises[0]
+      if delta:
+        ms = int(abs(delta) * frame_ms)
+        direction = "lags" if delta > 0 else "leads"
+        lines.append(" " * pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
+    if b_falls and m_falls:
+      delta = m_falls[0] - b_falls[0]
+      if delta:
+        ms = int(abs(delta) * frame_ms)
+        direction = "lags" if delta > 0 else "leads"
+        lines.append(" " * pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
+
+  return lines
+
+
 def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
   from opendbc.car.car_helpers import interfaces
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
@@ -180,10 +273,8 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
       by_field[d[0]].append(d)
     for field, fd in sorted(by_field.items()):
       print(f"  {field} ({len(fd)} diffs)")
-      for d in fd[:10]:
-        print(f"    {d[1]}: {d[2][0]} -> {d[2][1]}")
-      if len(fd) > 10:
-        print(f"    ... ({len(fd) - 10} more)")
+      for line in format_diff(fd):
+        print(line)
 
   return 0
 

From e32715bc470c07005a0e3272b9247b3ee9729699 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 21:57:53 -0800
Subject: [PATCH 053/117] commit workflow

---
 .github/workflows/tests.yml   | 21 +++++++++++++++++++--
 opendbc/car/tests/car_diff.py | 22 ++++++----------------
 2 files changed, 25 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f6d6b41a8da..560b4d9b7fd 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -93,9 +93,26 @@ jobs:
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
-      env:
-        GITHUB_TOKEN: ${{ secrets.CI_ARTIFACTS_TOKEN }}
       run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
+    - name: Checkout ci-artifacts
+      if: github.ref == 'refs/heads/master'
+      uses: actions/checkout@v4
+      with:
+        repository: commaai/ci-artifacts
+        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+        path: ${{ github.workspace }}/ci-artifacts
+    - name: Push refs
+      if: github.ref == 'refs/heads/master'
+      working-directory: ${{ github.workspace }}/ci-artifacts
+      run: |
+        git config user.name "GitHub Actions Bot"
+        git config user.email "<>"
+        git fetch origin car_diff
+        git checkout car_diff
+        cp ${{ github.workspace }}/opendbc_repo/car_diff/*.zst .
+        git add *.zst
+        git commit -m "car_diff refs for ${{ github.sha }}" || echo "No changes to commit"
+        git push origin car_diff
 
   # TODO: this needs to move to opendbc
   test_models:
diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 63ebc3b58d3..e3cd73864ee 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -99,8 +99,7 @@ def get_changed_platforms(cwd, database, interfaces):
 
 
 def download_refs(ref_path, platforms, segments):
-  from openpilot.tools.lib.github_utils import GithubUtils
-  base_url = GithubUtils(None, None).get_bucket_link(DIFF_BUCKET)
+  base_url = f"https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/{DIFF_BUCKET}"
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
@@ -109,17 +108,6 @@ def download_refs(ref_path, platforms, segments):
         (Path(ref_path) / filename).write_bytes(resp.content)
 
 
-def upload_refs(ref_path, platforms, segments):
-  from openpilot.tools.lib.github_utils import GithubUtils
-  gh = GithubUtils(None, os.environ.get("GITHUB_TOKEN"))
-  files = []
-  for platform in platforms:
-    for seg in segments.get(platform, []):
-      filename = f"{platform}_{seg.replace('/', '_')}.zst"
-      local_path = Path(ref_path) / filename
-      if local_path.exists():
-        files.append((filename, str(local_path)))
-  gh.upload_files(DIFF_BUCKET, files)
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):
@@ -227,7 +215,10 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
   from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
   cwd = Path(__file__).resolve().parents[3]
-  ref_path = tempfile.mkdtemp(prefix="car_ref_")
+  ref_path = cwd / DIFF_BUCKET
+  if not update_refs:
+    ref_path = Path(tempfile.mkdtemp())
+  ref_path.mkdir(exist_ok=True)
   database = get_comma_car_segments_database()
 
   if all_platforms:
@@ -250,8 +241,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
     results = run_replay(platforms, segments, ref_path, update=True)
     errors = [e for _, _, _, e in results if e]
     assert len(errors) == 0, f"Segment failures: {errors}"
-    upload_refs(ref_path, platforms, segments)
-    print(f"Uploaded {n_segments} refs")
+    print(f"Generated {n_segments} refs to {ref_path}")
     return 0
 
   download_refs(ref_path, platforms, segments)

From 3b14d64b53935adc3c037af7c2e2aa517a3dcf2e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 22:09:29 -0800
Subject: [PATCH 054/117] adjust formatting

---
 opendbc/car/tests/car_diff.py | 39 +++++++++++++++++------------------
 1 file changed, 19 insertions(+), 20 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index e3cd73864ee..38765e63518 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -138,16 +138,10 @@ def format_diff(diffs):
     diff_map = {d[1]: d for d in rdiffs}
 
     b_vals, m_vals, ts_map = [], [], {}
-    first, last = rdiffs[0], rdiffs[-1]
-    if first[2] and not first[3]:
-      b_st, m_st = False, False
-    elif not first[2] and first[3]:
-      b_st, m_st = True, True
-    else:
-      b_st, m_st = False, False
-
+    last = rdiffs[-1]
     converge_frame = last[1] + 1
     converge_val = last[2]
+    b_st = m_st = not converge_val  # before divergence, both had opposite of converge value
 
     for f in range(t0, t1):
       if f in diff_map:
@@ -173,9 +167,9 @@ def format_diff(diffs):
 
     lines.append(f"\n  frames {t0}-{t1-1}")
     pad = 12
-    init_b = not (first[2] and not first[3])
-    init_m = not first[2] and first[3]
-    for label, vals, init in [("master", b_vals, init_b), ("PR", m_vals, init_m)]:
+    max_width = 60
+    init_val = not converge_val
+    for label, vals, init in [("master", b_vals, init_val), ("PR", m_vals, init_val)]:
       line = f"  {label}:".ljust(pad)
       for i, v in enumerate(vals):
         pv = vals[i - 1] if i > 0 else init
@@ -187,6 +181,8 @@ def format_diff(diffs):
           line += "‾"
         else:
           line += "_"
+      if len(line) > pad + max_width:
+        line = line[:pad + max_width] + "..."
       lines.append(line)
 
     b_rises = [i for i, v in enumerate(b_vals) if v and (i == 0 or not b_vals[i - 1])]
@@ -256,15 +252,18 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
   for plat, seg, err in errors:
     print(f"\nERROR {plat} - {seg}: {err}")
 
-  for plat, seg, diffs in with_diffs:
-    print(f"\n{plat} - {seg}")
-    by_field = defaultdict(list)
-    for d in diffs:
-      by_field[d[0]].append(d)
-    for field, fd in sorted(by_field.items()):
-      print(f"  {field} ({len(fd)} diffs)")
-      for line in format_diff(fd):
-        print(line)
+  if with_diffs:
+    print("```")
+    for plat, seg, diffs in with_diffs:
+      print(f"\n{plat} - {seg}")
+      by_field = defaultdict(list)
+      for d in diffs:
+        by_field[d[0]].append(d)
+      for field, fd in sorted(by_field.items()):
+        print(f"  {field} ({len(fd)} diffs)")
+        for line in format_diff(fd):
+          print(line)
+    print("```")
 
   return 0
 

From 644054cba384046f54474518bb5696b349dd9ef4 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 22:17:22 -0800
Subject: [PATCH 055/117] return err

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 38765e63518..7fac487037d 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -265,7 +265,7 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
           print(line)
     print("```")
 
-  return 0
+  return 1 if errors else 0
 
 
 if __name__ == "__main__":

From 0a84552c4793d86eed91b459a4788693543e7e57 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 22:21:48 -0800
Subject: [PATCH 056/117] subprocess

---
 opendbc/car/tests/car_diff.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 7fac487037d..8cb060a0d42 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -6,6 +6,7 @@
 import pickle
 import re
 import requests
+import subprocess
 import sys
 import tempfile
 import zstandard as zstd
@@ -85,9 +86,8 @@ def process_segment(args):
 
 
 def get_changed_platforms(cwd, database, interfaces):
-  from openpilot.common.utils import run_cmd
   git_ref = os.environ.get("GIT_REF", "origin/master")
-  changed = run_cmd(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd)
+  changed = subprocess.check_output(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd, encoding='utf8').strip()
   brands = set()
   patterns = [r"opendbc/car/(\w+)/", r"opendbc/dbc/(\w+)_", r"opendbc/safety/modes/(\w+)[_.]"]
   for line in changed.splitlines():

From 48297232c020ebb73bdbeb1b5570301bf2531920 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 22:36:41 -0800
Subject: [PATCH 057/117] comma_car_segments

---
 opendbc/car/tests/car_diff.py | 74 ++++++++++++++++++++++++++++++++---
 1 file changed, 69 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 8cb060a0d42..be66678c7ca 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -19,12 +19,79 @@
 TOLERANCE = 1e-2
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 
+# commaCarSegments helpers
+COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
+COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
+COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
+
+
+def get_repo_raw_url(path):
+  if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
+    return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
+
+
+def parse_lfs_pointer(text):
+  header, lfs_version = text.splitlines()[0].split(" ")
+  assert header == "version"
+  assert lfs_version == "https://git-lfs.github.com/spec/v1"
+
+  header, oid_raw = text.splitlines()[1].split(" ")
+  assert header == "oid"
+  header, oid = oid_raw.split(":")
+  assert header == "sha256"
+
+  header, size = text.splitlines()[2].split(" ")
+  assert header == "size"
+
+  return oid, size
+
+
+def get_lfs_file_url(oid, size):
+  data = {
+    "operation": "download",
+    "transfers": ["basic"],
+    "objects": [{"oid": oid, "size": int(size)}],
+    "hash_algo": "sha256"
+  }
+  headers = {
+    "Accept": "application/vnd.git-lfs+json",
+    "Content-Type": "application/vnd.git-lfs+json"
+  }
+  response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
+  assert response.ok
+  obj = response.json()["objects"][0]
+  assert "error" not in obj, obj
+  return obj["actions"]["download"]["href"]
+
+
+def get_repo_url(path):
+  response = requests.head(get_repo_raw_url(path))
+  if "text/plain" in response.headers.get("content-type"):
+    response = requests.get(get_repo_raw_url(path))
+    assert response.status_code == 200
+    oid, size = parse_lfs_pointer(response.text)
+    return get_lfs_file_url(oid, size)
+  else:
+    return get_repo_raw_url(path)
+
+
+def get_url(route, segment, file="rlog.zst"):
+  return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")
+
+
+def get_comma_car_segments_database():
+  from opendbc.car.fingerprints import MIGRATION
+  database = requests.get(get_repo_raw_url("database.json")).json()
+  ret = {}
+  for platform in database:
+    ret[MIGRATION.get(platform, platform)] = [s.rstrip('/s') for s in database[platform]]
+  return ret
+
 
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
   from openpilot.selfdrive.pandad import can_capnp_to_list
   from openpilot.tools.lib.logreader import LogReader
-  from openpilot.tools.lib.comma_car_segments import get_url
 
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
@@ -108,8 +175,6 @@ def download_refs(ref_path, platforms, segments):
         (Path(ref_path) / filename).write_bytes(resp.content)
 
 
-
-
 def run_replay(platforms, segments, ref_path, update, workers=8):
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
@@ -141,7 +206,7 @@ def format_diff(diffs):
     last = rdiffs[-1]
     converge_frame = last[1] + 1
     converge_val = last[2]
-    b_st = m_st = not converge_val  # before divergence, both had opposite of converge value
+    b_st = m_st = not converge_val
 
     for f in range(t0, t1):
       if f in diff_map:
@@ -208,7 +273,6 @@ def format_diff(diffs):
 
 def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
   from opendbc.car.car_helpers import interfaces
-  from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
 
   cwd = Path(__file__).resolve().parents[3]
   ref_path = cwd / DIFF_BUCKET

From 98cdbca2836f4869a660f747917786d19ece72b2 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:03:15 -0800
Subject: [PATCH 058/117] dead code

---
 opendbc/car/tests/car_diff.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index be66678c7ca..ddbdbfbb957 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -218,11 +218,6 @@ def format_diff(diffs):
       b_vals.append(b_st)
       m_vals.append(m_st)
 
-    ts_start = ts_map.get(t0, rdiffs[0][4] if len(rdiffs[0]) > 4 else 0)
-    ts_end = ts_map.get(t1 - 1, rdiffs[-1][4] if len(rdiffs[-1]) > 4 else 0)
-    t0_sec = ts_start / 1e9
-    t1_sec = ts_end / 1e9
-
     # ms per frame from timestamps
     if len(ts_map) >= 2:
       ts_vals = sorted(ts_map.items())

From 078c0e7a071ddaf83ccf5e3bff491daba98c376f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:06:16 -0800
Subject: [PATCH 059/117] minimal logreader

---
 opendbc/car/tests/car_diff.py | 26 ++++++++++++++++++++------
 opendbc/car/tests/rlog.capnp  | 23 +++++++++++++++++++++++
 2 files changed, 43 insertions(+), 6 deletions(-)
 create mode 100644 opendbc/car/tests/rlog.capnp

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index ddbdbfbb957..b925fdf35a4 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -88,19 +88,33 @@ def get_comma_car_segments_database():
   return ret
 
 
+def logreader_from_url(url):
+  import capnp
+
+  response = requests.get(url)
+  assert response.status_code == 200, f"Failed to download {url}: {response.status_code}"
+
+  data = response.content
+  if data.startswith(b'\x28\xB5\x2F\xFD'): # zstd magic
+    data = zstd.decompress(data)
+
+  rlog = capnp.load(str(Path(__file__).parent / "rlog.capnp"))
+  return rlog.Event.read_multiple_bytes(data)
+
+
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
-  from openpilot.selfdrive.pandad import can_capnp_to_list
-  from openpilot.tools.lib.logreader import LogReader
 
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
 
   can_msgs = []
-  for msg in LogReader(url):
-    if msg.which() == "can":
-      can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-      can_msgs.append((can[0], [CanData(*c) for c in can[1]]))
+  for evt in logreader_from_url(url):
+    try:
+      if evt.which() == "can":
+        can_msgs.append((evt.logMonoTime, [CanData(c.address, c.dat, c.src) for c in evt.can]))
+    except Exception:
+      pass
   return can_msgs
 
 
diff --git a/opendbc/car/tests/rlog.capnp b/opendbc/car/tests/rlog.capnp
new file mode 100644
index 00000000000..ee0e3a4825a
--- /dev/null
+++ b/opendbc/car/tests/rlog.capnp
@@ -0,0 +1,23 @@
+@0xe3aae94257cf750f;
+
+# Minimal schema for parsing rlog CAN messages
+# Subset of cereal/log.capnp
+
+struct CanData {
+  address @0 :UInt32;
+  busTimeDEPRECATED @1 :UInt16;
+  dat @2 :Data;
+  src @3 :UInt8;
+}
+
+struct Event {
+  logMonoTime @0 :UInt64;
+
+  union {
+    initData @1 :Void;
+    frame @2 :Void;
+    gpsNMEA @3 :Void;
+    sensorEventDEPRECATED @4 :Void;
+    can @5 :List(CanData);
+  }
+}

From 968aa55a9d020815171fcfd0cc3e00964dfdeb18 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:14:41 -0800
Subject: [PATCH 060/117] remove openpilot

---
 .github/workflows/tests.yml | 25 ++++++++-----------------
 1 file changed, 8 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 560b4d9b7fd..d83e74d0fe8 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -64,28 +64,19 @@ jobs:
     name: car diff
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
-      BASE_IMAGE: openpilot-base
-      BUILD: selfdrive/test/docker_build.sh base
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
-      RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONPATH=/tmp/openpilot -e GIT_REF -e GITHUB_TOKEN -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/bash -c
     steps:
     - uses: actions/checkout@v4
       with:
-        repository: 'commaai/openpilot'
-        ref: 'master'
-        submodules: true
-    - run: rm -rf opendbc_repo/
-    - uses: actions/checkout@v4
-      with:
-        path: opendbc_repo
         fetch-depth: 0
-    - run: cd opendbc_repo && git fetch origin master
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc) selfdrive/pandad/ opendbc_repo/opendbc/car opendbc_repo/opendbc/dbc"
+    - uses: ./.github/workflows/cache
+    - name: Build opendbc
+      run: |
+        source setup.sh
+        scons -j8
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py" | tee diff.txt
+      run: python opendbc/car/tests/car_diff.py | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
@@ -93,7 +84,7 @@ jobs:
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
-      run: ${{ env.RUN }} "git config --global --add safe.directory '*' && python opendbc_repo/opendbc/car/tests/car_diff.py --update-refs"
+      run: python opendbc/car/tests/car_diff.py --update-refs
     - name: Checkout ci-artifacts
       if: github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
@@ -109,7 +100,7 @@ jobs:
         git config user.email "<>"
         git fetch origin car_diff
         git checkout car_diff
-        cp ${{ github.workspace }}/opendbc_repo/car_diff/*.zst .
+        cp ${{ github.workspace }}/car_diff/*.zst .
         git add *.zst
         git commit -m "car_diff refs for ${{ github.sha }}" || echo "No changes to commit"
         git push origin car_diff

From 598c28a6a5a3e25afc54f75ba0766a523adf8c8b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:19:00 -0800
Subject: [PATCH 061/117] add deps

---
 pyproject.toml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 1a0ace169d8..ac5ed920b10 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -44,6 +44,11 @@ docs = [
   "Jinja2",
   "natsort",
 ]
+car_diff = [
+  "requests",
+  "zstandard",
+  "dictdiffer",
+]
 examples = [
   "inputs",
   "matplotlib",

From fa57731d293694321a328fcd99b3e5be7dac1549 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:25:59 -0800
Subject: [PATCH 062/117] remove all deps

---
 opendbc/car/tests/car_diff.py | 100 +++++++++++++++++++++++++---------
 pyproject.toml                |   5 --
 2 files changed, 74 insertions(+), 31 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index b925fdf35a4..1703288bda0 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -3,14 +3,14 @@
 os.environ['LOGPRINT'] = 'CRITICAL'
 
 import argparse
+import json
 import pickle
 import re
-import requests
 import subprocess
 import sys
 import tempfile
-import zstandard as zstd
-import dictdiffer
+import urllib.error
+import urllib.request
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
@@ -19,12 +19,57 @@
 TOLERANCE = 1e-2
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 
-# commaCarSegments helpers
 COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
 COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
 COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
 
 
+def http_get(url, headers=None):
+  req = urllib.request.Request(url, headers=headers or {})
+  with urllib.request.urlopen(req) as resp:
+    return resp.read(), resp.status, dict(resp.headers)
+
+
+def http_post_json(url, data, headers=None):
+  req = urllib.request.Request(url, data=json.dumps(data).encode(), headers=headers or {}, method='POST')
+  with urllib.request.urlopen(req) as resp:
+    return json.load(resp), resp.status
+
+
+def http_head(url):
+  req = urllib.request.Request(url, method='HEAD')
+  with urllib.request.urlopen(req) as resp:
+    return resp.status, dict(resp.headers)
+
+
+def zstd_decompress(data):
+  proc = subprocess.run(['zstd', '-d'], input=data, capture_output=True, check=True)
+  return proc.stdout
+
+
+def zstd_compress(data):
+  proc = subprocess.run(['zstd', '-c'], input=data, capture_output=True, check=True)
+  return proc.stdout
+
+
+def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
+  ignore = ignore or []
+  diffs = []
+  for key in set(list(d1.keys()) + list(d2.keys())):
+    if key in ignore:
+      continue
+    full_path = f"{path}.{key}" if path else key
+    v1, v2 = d1.get(key), d2.get(key)
+    if isinstance(v1, dict) and isinstance(v2, dict):
+      diffs.extend(dict_diff(v1, v2, full_path, ignore, tolerance))
+    elif isinstance(v1, (int, float)) and isinstance(v2, (int, float)):
+      if abs(v1 - v2) > tolerance:
+        diffs.append(("change", full_path, (v1, v2)))
+    elif v1 != v2:
+      diffs.append(("change", full_path, (v1, v2)))
+  return diffs
+
+
 def get_repo_raw_url(path):
   if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
     return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
@@ -57,19 +102,19 @@ def get_lfs_file_url(oid, size):
     "Accept": "application/vnd.git-lfs+json",
     "Content-Type": "application/vnd.git-lfs+json"
   }
-  response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
-  assert response.ok
-  obj = response.json()["objects"][0]
+  resp, status = http_post_json(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", data, headers)
+  assert status == 200
+  obj = resp["objects"][0]
   assert "error" not in obj, obj
   return obj["actions"]["download"]["href"]
 
 
 def get_repo_url(path):
-  response = requests.head(get_repo_raw_url(path))
-  if "text/plain" in response.headers.get("content-type"):
-    response = requests.get(get_repo_raw_url(path))
-    assert response.status_code == 200
-    oid, size = parse_lfs_pointer(response.text)
+  status, headers = http_head(get_repo_raw_url(path))
+  if "text/plain" in headers.get("Content-Type", ""):
+    content, status, _ = http_get(get_repo_raw_url(path))
+    assert status == 200
+    oid, size = parse_lfs_pointer(content.decode())
     return get_lfs_file_url(oid, size)
   else:
     return get_repo_raw_url(path)
@@ -81,7 +126,9 @@ def get_url(route, segment, file="rlog.zst"):
 
 def get_comma_car_segments_database():
   from opendbc.car.fingerprints import MIGRATION
-  database = requests.get(get_repo_raw_url("database.json")).json()
+  content, status, _ = http_get(get_repo_raw_url("database.json"))
+  assert status == 200
+  database = json.loads(content)
   ret = {}
   for platform in database:
     ret[MIGRATION.get(platform, platform)] = [s.rstrip('/s') for s in database[platform]]
@@ -91,12 +138,11 @@ def get_comma_car_segments_database():
 def logreader_from_url(url):
   import capnp
 
-  response = requests.get(url)
-  assert response.status_code == 200, f"Failed to download {url}: {response.status_code}"
+  data, status, _ = http_get(url)
+  assert status == 200, f"Failed to download {url}: {status}"
 
-  data = response.content
-  if data.startswith(b'\x28\xB5\x2F\xFD'): # zstd magic
-    data = zstd.decompress(data)
+  if data.startswith(b'\x28\xB5\x2F\xFD'):  # zstd magic
+    data = zstd_decompress(data)
 
   rlog = capnp.load(str(Path(__file__).parent / "rlog.capnp"))
   return rlog.Event.read_multiple_bytes(data)
@@ -149,18 +195,17 @@ def process_segment(args):
 
     if update:
       data = list(zip(timestamps, states, strict=True))
-      ref_file.write_bytes(zstd.compress(pickle.dumps(data)))
+      ref_file.write_bytes(zstd_compress(pickle.dumps(data)))
       return (platform, seg, [], None)
 
     if not ref_file.exists():
       return (platform, seg, [], "no ref")
 
-    ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
+    ref = pickle.loads(zstd_decompress(ref_file.read_bytes()))
     diffs = []
     for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
-      for diff in dictdiffer.diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
-        if diff[0] == "change":  # ignore add/remove from schema changes
-          diffs.append((str(diff[1]), i, diff[2], ts))
+      for diff in dict_diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
+        diffs.append((diff[1], i, diff[2], ts))
     return (platform, seg, diffs, None)
   except Exception as e:
     return (platform, seg, [], str(e))
@@ -184,9 +229,12 @@ def download_refs(ref_path, platforms, segments):
   for platform in platforms:
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
-      resp = requests.get(f"{base_url}/{filename}")
-      if resp.status_code == 200:
-        (Path(ref_path) / filename).write_bytes(resp.content)
+      try:
+        content, status, _ = http_get(f"{base_url}/{filename}")
+        if status == 200:
+          (Path(ref_path) / filename).write_bytes(content)
+      except urllib.error.HTTPError:
+        pass
 
 
 def run_replay(platforms, segments, ref_path, update, workers=8):
diff --git a/pyproject.toml b/pyproject.toml
index ac5ed920b10..1a0ace169d8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -44,11 +44,6 @@ docs = [
   "Jinja2",
   "natsort",
 ]
-car_diff = [
-  "requests",
-  "zstandard",
-  "dictdiffer",
-]
 examples = [
   "inputs",
   "matplotlib",

From 39a5680565d7a69c6d03a0ea05f0f9a132b261a4 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 13 Jan 2026 23:48:48 -0800
Subject: [PATCH 063/117] fix source

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index d83e74d0fe8..ad4163a1d95 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -76,7 +76,7 @@ jobs:
         scons -j8
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: python opendbc/car/tests/car_diff.py | tee diff.txt
+      run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:
@@ -84,7 +84,7 @@ jobs:
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
       if: github.ref == 'refs/heads/master'
-      run: python opendbc/car/tests/car_diff.py --update-refs
+      run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
     - name: Checkout ci-artifacts
       if: github.ref == 'refs/heads/master'
       uses: actions/checkout@v4

From 16afc6682e92b67d856823801de9b097936ea53d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 00:54:25 -0800
Subject: [PATCH 064/117] request

---
 opendbc/car/tests/car_diff.py | 65 ++++++++++++++++++++++++++++-------
 1 file changed, 53 insertions(+), 12 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 1703288bda0..b53ac92e2d3 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -9,8 +9,9 @@
 import subprocess
 import sys
 import tempfile
-import urllib.error
-import urllib.request
+import http.client
+import time
+import urllib.parse
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
@@ -18,28 +19,68 @@
 DIFF_BUCKET = "car_diff"
 TOLERANCE = 1e-2
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
+RETRY_STATUS = (409, 429, 503, 504)
 
 COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
 COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
 COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
 
+_connections = {}
+
+
+def _reset_connections():
+  global _connections
+  for conn in _connections.values():
+    conn.close()
+  _connections = {}
+
+
+def _get_connection(host, port=443):
+  key = (host, port)
+  if key not in _connections:
+    _connections[key] = http.client.HTTPSConnection(host, port)
+  return _connections[key]
+
+
+os.register_at_fork(after_in_child=_reset_connections)
+
+
+def _request(method, url, headers=None, body=None):
+  parsed = urllib.parse.urlparse(url)
+  path = parsed.path + ("?" + parsed.query if parsed.query else "")
+  conn = _get_connection(parsed.hostname, parsed.port or 443)
+
+  for attempt in range(5):
+    try:
+      conn.request(method, path, body=body, headers=headers or {})
+      resp = conn.getresponse()
+      data = resp.read()
+      if resp.status in RETRY_STATUS and attempt < 4:
+        time.sleep(0.5 * (2 ** attempt))
+        continue
+      return data, resp.status, dict(resp.getheaders())
+    except (http.client.HTTPException, OSError):
+      conn.close()
+      _connections.pop((parsed.hostname, parsed.port or 443), None)
+      conn = _get_connection(parsed.hostname, parsed.port or 443)
+      if attempt == 4:
+        raise
+
 
 def http_get(url, headers=None):
-  req = urllib.request.Request(url, headers=headers or {})
-  with urllib.request.urlopen(req) as resp:
-    return resp.read(), resp.status, dict(resp.headers)
+  return _request("GET", url, headers)
 
 
 def http_post_json(url, data, headers=None):
-  req = urllib.request.Request(url, data=json.dumps(data).encode(), headers=headers or {}, method='POST')
-  with urllib.request.urlopen(req) as resp:
-    return json.load(resp), resp.status
+  hdrs = {"Content-Type": "application/json", **(headers or {})}
+  body = json.dumps(data).encode()
+  data, status, resp_headers = _request("POST", url, hdrs, body)
+  return json.loads(data), status
 
 
 def http_head(url):
-  req = urllib.request.Request(url, method='HEAD')
-  with urllib.request.urlopen(req) as resp:
-    return resp.status, dict(resp.headers)
+  _, status, headers = _request("HEAD", url)
+  return status, headers
 
 
 def zstd_decompress(data):
@@ -233,7 +274,7 @@ def download_refs(ref_path, platforms, segments):
         content, status, _ = http_get(f"{base_url}/{filename}")
         if status == 200:
           (Path(ref_path) / filename).write_bytes(content)
-      except urllib.error.HTTPError:
+      except Exception:
         pass
 
 

From 564f5d8de5557473e5b7657d6d92eaf6ce944a14 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:12:51 -0800
Subject: [PATCH 065/117] less parallel

---
 opendbc/car/tests/car_diff.py | 21 ++++++++++-----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index b53ac92e2d3..6a6dc819aef 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -48,23 +48,22 @@ def _get_connection(host, port=443):
 def _request(method, url, headers=None, body=None):
   parsed = urllib.parse.urlparse(url)
   path = parsed.path + ("?" + parsed.query if parsed.query else "")
-  conn = _get_connection(parsed.hostname, parsed.port or 443)
+  key = (parsed.hostname, parsed.port or 443)
 
   for attempt in range(5):
     try:
+      conn = _get_connection(*key)
       conn.request(method, path, body=body, headers=headers or {})
       resp = conn.getresponse()
       data = resp.read()
-      if resp.status in RETRY_STATUS and attempt < 4:
-        time.sleep(0.5 * (2 ** attempt))
-        continue
-      return data, resp.status, dict(resp.getheaders())
-    except (http.client.HTTPException, OSError):
-      conn.close()
-      _connections.pop((parsed.hostname, parsed.port or 443), None)
-      conn = _get_connection(parsed.hostname, parsed.port or 443)
+      if resp.status not in RETRY_STATUS:
+        return data, resp.status, dict(resp.getheaders())
+      raise OSError(f"HTTP {resp.status}")
+    except (http.client.HTTPException, OSError) as e:
+      _connections.pop(key, None)
       if attempt == 4:
-        raise
+        raise OSError(f"{method} {url}: {e}") from None
+      time.sleep(1.0 * (2 ** attempt))
 
 
 def http_get(url, headers=None):
@@ -278,7 +277,7 @@ def download_refs(ref_path, platforms, segments):
         pass
 
 
-def run_replay(platforms, segments, ref_path, update, workers=8):
+def run_replay(platforms, segments, ref_path, update, workers=4):
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
   with ProcessPoolExecutor(max_workers=workers) as pool:

From 04852c1e559f72525aee4e5d16dee7efe09ae3d1 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:15:50 -0800
Subject: [PATCH 066/117] fix push

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index ad4163a1d95..a272304581f 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -98,8 +98,8 @@ jobs:
       run: |
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
-        git fetch origin car_diff
-        git checkout car_diff
+        git fetch origin car_diff || true
+        git checkout car_diff 2>/dev/null || git checkout --orphan car_diff
         cp ${{ github.workspace }}/car_diff/*.zst .
         git add *.zst
         git commit -m "car_diff refs for ${{ github.sha }}" || echo "No changes to commit"

From b4af0d3bbd31f119ed3f18933329dcc64c9cf634 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:16:45 -0800
Subject: [PATCH 067/117] bootstrap

---
 .github/workflows/tests.yml | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a272304581f..4336f006b8d 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -83,17 +83,14 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      if: github.ref == 'refs/heads/master'
-      run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
+      run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs --all
     - name: Checkout ci-artifacts
-      if: github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
       with:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Push refs
-      if: github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"

From d58761a3c0c8fd8caad52ca768fc3c0823d3e245 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:38:50 -0800
Subject: [PATCH 068/117] Revert "bootstrap"

This reverts commit b4af0d3bbd31f119ed3f18933329dcc64c9cf634.
---
 .github/workflows/tests.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 4336f006b8d..a272304581f 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -83,14 +83,17 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs --all
+      if: github.ref == 'refs/heads/master'
+      run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
     - name: Checkout ci-artifacts
+      if: github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
       with:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Push refs
+      if: github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"

From d1fa3753728b1ebd5125c07742eca27dbecff6da Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:47:57 -0800
Subject: [PATCH 069/117] fix graph

---
 opendbc/car/tests/car_diff.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 6a6dc819aef..a864bfeb0aa 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -287,8 +287,9 @@ def run_replay(platforms, segments, ref_path, update, workers=4):
 def format_diff(diffs):
   if not diffs:
     return []
-  if not all(isinstance(d[2], bool) and isinstance(d[3], bool) for d in diffs):
-    return [f"    frame {d[1]}: {d[2]} -> {d[3]}" for d in diffs[:10]]
+  old, new = diffs[0][2]
+  if not (isinstance(old, bool) and isinstance(new, bool)):
+    return [f"    frame {d[1]}: {d[2][0]} -> {d[2][1]}" for d in diffs[:10]]
 
   lines = []
   ranges, cur = [], [diffs[0]]
@@ -307,14 +308,13 @@ def format_diff(diffs):
     b_vals, m_vals, ts_map = [], [], {}
     last = rdiffs[-1]
     converge_frame = last[1] + 1
-    converge_val = last[2]
+    converge_val = last[2][1]
     b_st = m_st = not converge_val
 
     for f in range(t0, t1):
       if f in diff_map:
-        b_st, m_st = diff_map[f][2], diff_map[f][3]
-        if len(diff_map[f]) > 4:
-          ts_map[f] = diff_map[f][4]
+        b_st, m_st = diff_map[f][2]
+        ts_map[f] = diff_map[f][3]
       elif f >= converge_frame:
         b_st = m_st = converge_val
       b_vals.append(b_st)

From d8eac39076b11e4b427d578a886d840556d51d0b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 03:54:28 -0800
Subject: [PATCH 070/117] push

---
 .github/workflows/tests.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a272304581f..8974b84991c 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -96,6 +96,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
+        ls ${{ github.workspace }}/car_diff/*.zst 2>/dev/null || exit 0
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
         git fetch origin car_diff || true

From 7705f500fbe043135659887b862402a496dfdf9e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 15:02:18 -0800
Subject: [PATCH 071/117] regex

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index a864bfeb0aa..4e2af08687f 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -255,7 +255,7 @@ def get_changed_platforms(cwd, database, interfaces):
   git_ref = os.environ.get("GIT_REF", "origin/master")
   changed = subprocess.check_output(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd, encoding='utf8').strip()
   brands = set()
-  patterns = [r"opendbc/car/(\w+)/", r"opendbc/dbc/(\w+)_", r"opendbc/safety/modes/(\w+)[_.]"]
+  patterns = [r"opendbc/car/(\w+)/", r"opendbc/dbc/(\w+?)_", r"opendbc/dbc/generator/(\w+)", r"opendbc/safety/modes/(\w+?)[_.]"]
   for line in changed.splitlines():
     for pattern in patterns:
       m = re.search(pattern, line)

From 451afa8195c261dbf016b7d85860b48c8cbb769e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 15:39:44 -0800
Subject: [PATCH 072/117] optimize dict_diff

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 4e2af08687f..0dbf0ebb718 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -95,7 +95,7 @@ def zstd_compress(data):
 def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
   ignore = ignore or []
   diffs = []
-  for key in set(list(d1.keys()) + list(d2.keys())):
+  for key in d1.keys() | d2.keys():
     if key in ignore:
       continue
     full_path = f"{path}.{key}" if path else key

From 8c52ddc28fd4aec38e4f98b6d3c88f0dfd23e3a5 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 19:17:01 -0800
Subject: [PATCH 073/117] reduce tolerance

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 0dbf0ebb718..9408fdd7def 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -17,7 +17,7 @@
 from pathlib import Path
 
 DIFF_BUCKET = "car_diff"
-TOLERANCE = 1e-2
+TOLERANCE = 1e-4
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 RETRY_STATUS = (409, 429, 503, 504)
 

From 01d7b879a961ea2bdaf2dbefea0ae03a7e2f8415 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 20:09:50 -0800
Subject: [PATCH 074/117] use comma_car_segments

---
 opendbc/car/tests/car_diff.py | 69 ++---------------------------------
 1 file changed, 3 insertions(+), 66 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 9408fdd7def..ba2325282c8 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -3,83 +3,20 @@
 os.environ['LOGPRINT'] = 'CRITICAL'
 
 import argparse
-import json
 import pickle
 import re
 import subprocess
 import sys
 import tempfile
-import http.client
-import time
-import urllib.parse
+import requests
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
+from comma_car_segments import get_comma_car_segments_database, get_url
 
-DIFF_BUCKET = "car_diff"
 TOLERANCE = 1e-4
+DIFF_BUCKET = "car_diff"
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
-RETRY_STATUS = (409, 429, 503, 504)
-
-COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
-COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
-COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
-
-_connections = {}
-
-
-def _reset_connections():
-  global _connections
-  for conn in _connections.values():
-    conn.close()
-  _connections = {}
-
-
-def _get_connection(host, port=443):
-  key = (host, port)
-  if key not in _connections:
-    _connections[key] = http.client.HTTPSConnection(host, port)
-  return _connections[key]
-
-
-os.register_at_fork(after_in_child=_reset_connections)
-
-
-def _request(method, url, headers=None, body=None):
-  parsed = urllib.parse.urlparse(url)
-  path = parsed.path + ("?" + parsed.query if parsed.query else "")
-  key = (parsed.hostname, parsed.port or 443)
-
-  for attempt in range(5):
-    try:
-      conn = _get_connection(*key)
-      conn.request(method, path, body=body, headers=headers or {})
-      resp = conn.getresponse()
-      data = resp.read()
-      if resp.status not in RETRY_STATUS:
-        return data, resp.status, dict(resp.getheaders())
-      raise OSError(f"HTTP {resp.status}")
-    except (http.client.HTTPException, OSError) as e:
-      _connections.pop(key, None)
-      if attempt == 4:
-        raise OSError(f"{method} {url}: {e}") from None
-      time.sleep(1.0 * (2 ** attempt))
-
-
-def http_get(url, headers=None):
-  return _request("GET", url, headers)
-
-
-def http_post_json(url, data, headers=None):
-  hdrs = {"Content-Type": "application/json", **(headers or {})}
-  body = json.dumps(data).encode()
-  data, status, resp_headers = _request("POST", url, hdrs, body)
-  return json.loads(data), status
-
-
-def http_head(url):
-  _, status, headers = _request("HEAD", url)
-  return status, headers
 
 
 def zstd_decompress(data):

From 9c630f0c544fdcc5d91081265efbbd30f1a384c3 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 20:11:23 -0800
Subject: [PATCH 075/117] remove

---
 opendbc/car/tests/car_diff.py | 65 -----------------------------------
 1 file changed, 65 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index ba2325282c8..e4d161914f7 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -47,71 +47,6 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
   return diffs
 
 
-def get_repo_raw_url(path):
-  if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
-    return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
-
-
-def parse_lfs_pointer(text):
-  header, lfs_version = text.splitlines()[0].split(" ")
-  assert header == "version"
-  assert lfs_version == "https://git-lfs.github.com/spec/v1"
-
-  header, oid_raw = text.splitlines()[1].split(" ")
-  assert header == "oid"
-  header, oid = oid_raw.split(":")
-  assert header == "sha256"
-
-  header, size = text.splitlines()[2].split(" ")
-  assert header == "size"
-
-  return oid, size
-
-
-def get_lfs_file_url(oid, size):
-  data = {
-    "operation": "download",
-    "transfers": ["basic"],
-    "objects": [{"oid": oid, "size": int(size)}],
-    "hash_algo": "sha256"
-  }
-  headers = {
-    "Accept": "application/vnd.git-lfs+json",
-    "Content-Type": "application/vnd.git-lfs+json"
-  }
-  resp, status = http_post_json(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", data, headers)
-  assert status == 200
-  obj = resp["objects"][0]
-  assert "error" not in obj, obj
-  return obj["actions"]["download"]["href"]
-
-
-def get_repo_url(path):
-  status, headers = http_head(get_repo_raw_url(path))
-  if "text/plain" in headers.get("Content-Type", ""):
-    content, status, _ = http_get(get_repo_raw_url(path))
-    assert status == 200
-    oid, size = parse_lfs_pointer(content.decode())
-    return get_lfs_file_url(oid, size)
-  else:
-    return get_repo_raw_url(path)
-
-
-def get_url(route, segment, file="rlog.zst"):
-  return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")
-
-
-def get_comma_car_segments_database():
-  from opendbc.car.fingerprints import MIGRATION
-  content, status, _ = http_get(get_repo_raw_url("database.json"))
-  assert status == 200
-  database = json.loads(content)
-  ret = {}
-  for platform in database:
-    ret[MIGRATION.get(platform, platform)] = [s.rstrip('/s') for s in database[platform]]
-  return ret
-
-
 def logreader_from_url(url):
   import capnp
 

From 22e4324e8d0d8fc93d67f646fd1e29f93bb33925 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 20:11:54 -0800
Subject: [PATCH 076/117] use requests

---
 opendbc/car/tests/car_diff.py | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index e4d161914f7..7e42949673d 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -50,8 +50,9 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
 def logreader_from_url(url):
   import capnp
 
-  data, status, _ = http_get(url)
-  assert status == 200, f"Failed to download {url}: {status}"
+  resp = requests.get(url)
+  assert resp.status_code == 200, f"Failed to download {url}: {resp.status_code}"
+  data = resp.content
 
   if data.startswith(b'\x28\xB5\x2F\xFD'):  # zstd magic
     data = zstd_decompress(data)
@@ -142,9 +143,9 @@ def download_refs(ref_path, platforms, segments):
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
       try:
-        content, status, _ = http_get(f"{base_url}/{filename}")
-        if status == 200:
-          (Path(ref_path) / filename).write_bytes(content)
+        resp = requests.get(f"{base_url}/{filename}")
+        if resp.status_code == 200:
+          (Path(ref_path) / filename).write_bytes(resp.content)
       except Exception:
         pass
 

From 37bc9209374edf98efd1ff26c5f0d777252f169f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 20:13:09 -0800
Subject: [PATCH 077/117] timestamps

---
 opendbc/car/tests/car_diff.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 7e42949673d..5f9d7de070e 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -194,11 +194,7 @@ def format_diff(diffs):
       m_vals.append(m_st)
 
     # ms per frame from timestamps
-    if len(ts_map) >= 2:
-      ts_vals = sorted(ts_map.items())
-      frame_ms = (ts_vals[-1][1] - ts_vals[0][1]) / 1e6 / (ts_vals[-1][0] - ts_vals[0][0])
-    else:
-      frame_ms = 10
+    frame_ms = (rdiffs[-1][3] - rdiffs[0][3]) / 1e6 / max(1, rdiffs[-1][1] - rdiffs[0][1]) 
 
     lines.append(f"\n  frames {t0}-{t1-1}")
     pad = 12

From b3aa7cba78d24c6add52c011fe1d34b97d7b0503 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 20:31:19 -0800
Subject: [PATCH 078/117] frame_ms

---
 opendbc/car/tests/car_diff.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 5f9d7de070e..26da76e10be 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -174,11 +174,15 @@ def format_diff(diffs):
       cur = [d]
   ranges.append(cur)
 
+  # ms per frame from timestamps, fallback to 10ms on single diff
+  frame_diff = diffs[-1][1] - diffs[0][1]
+  frame_ms = (diffs[-1][3] - diffs[0][3]) / 1e6 / frame_diff if frame_diff else 10
+
   for rdiffs in ranges:
     t0, t1 = max(0, rdiffs[0][1] - 5), rdiffs[-1][1] + 6
     diff_map = {d[1]: d for d in rdiffs}
 
-    b_vals, m_vals, ts_map = [], [], {}
+    b_vals, m_vals = [], []
     last = rdiffs[-1]
     converge_frame = last[1] + 1
     converge_val = last[2][1]
@@ -187,15 +191,11 @@ def format_diff(diffs):
     for f in range(t0, t1):
       if f in diff_map:
         b_st, m_st = diff_map[f][2]
-        ts_map[f] = diff_map[f][3]
       elif f >= converge_frame:
         b_st = m_st = converge_val
       b_vals.append(b_st)
       m_vals.append(m_st)
 
-    # ms per frame from timestamps
-    frame_ms = (rdiffs[-1][3] - rdiffs[0][3]) / 1e6 / max(1, rdiffs[-1][1] - rdiffs[0][1]) 
-
     lines.append(f"\n  frames {t0}-{t1-1}")
     pad = 12
     max_width = 60

From a9e013d599402514122aa3f8e4c7de34c7468095 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 21:04:21 -0800
Subject: [PATCH 079/117] id

---
 opendbc/car/tests/rlog.capnp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/rlog.capnp b/opendbc/car/tests/rlog.capnp
index ee0e3a4825a..50cdd68b5eb 100644
--- a/opendbc/car/tests/rlog.capnp
+++ b/opendbc/car/tests/rlog.capnp
@@ -1,4 +1,4 @@
-@0xe3aae94257cf750f;
+@0xce500edaaae36b0e;
 
 # Minimal schema for parsing rlog CAN messages
 # Subset of cereal/log.capnp

From de34876b01205f413d7c50726cc0e86de204d554 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 21:35:19 -0800
Subject: [PATCH 080/117] logreader

---
 opendbc/car/logreader.py           | 37 ++++++++++++++++++++++++++++++
 opendbc/car/{tests => }/rlog.capnp |  0
 2 files changed, 37 insertions(+)
 create mode 100644 opendbc/car/logreader.py
 rename opendbc/car/{tests => }/rlog.capnp (100%)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
new file mode 100644
index 00000000000..d862b09e7af
--- /dev/null
+++ b/opendbc/car/logreader.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import subprocess
+from pathlib import Path
+from urllib.request import urlopen
+import capnp
+
+
+def _zstd_decompress(dat):
+  proc = subprocess.run(['zstd', '-d'], input=dat, capture_output=True, check=True)
+  return proc.stdout
+
+
+class LogReader:
+  def __init__(self, fn, sort_by_time=False):
+    if fn.startswith("http"):
+      with urlopen(fn) as f:
+        dat = f.read()
+    else:
+      dat = Path(fn).read_bytes()
+
+    if dat.startswith(b'\x28\xB5\x2F\xFD'):
+      dat = _zstd_decompress(dat)
+
+    rlog = capnp.load(str(Path(__file__).parent / "rlog.capnp"))
+    self._ents = list(rlog.Event.read_multiple_bytes(dat))
+
+    if sort_by_time:
+      self._ents.sort(key=lambda x: x.logMonoTime)
+
+  def __iter__(self):
+    yield from self._ents
+
+  def filter(self, msg_type: str):
+    return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))
+
+  def first(self, msg_type: str):
+    return next(self.filter(msg_type), None)
diff --git a/opendbc/car/tests/rlog.capnp b/opendbc/car/rlog.capnp
similarity index 100%
rename from opendbc/car/tests/rlog.capnp
rename to opendbc/car/rlog.capnp

From 23b74331c430d23b0e148f2dfb2550bc5cd82adb Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 21:51:25 -0800
Subject: [PATCH 081/117] align logreader

---
 opendbc/car/logreader.py | 38 ++++++++++++++++++++++++++++----------
 1 file changed, 28 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
index d862b09e7af..397574e096e 100644
--- a/opendbc/car/logreader.py
+++ b/opendbc/car/logreader.py
@@ -1,34 +1,52 @@
 #!/usr/bin/env python3
+import os
 import subprocess
-from pathlib import Path
+import urllib.parse
+import warnings
 from urllib.request import urlopen
+
 import capnp
 
+from opendbc.car.common.basedir import BASEDIR
+
+capnp_log = capnp.load(os.path.join(BASEDIR, "rlog.capnp"))
+
 
-def _zstd_decompress(dat):
-  proc = subprocess.run(['zstd', '-d'], input=dat, capture_output=True, check=True)
+def decompress_stream(data: bytes) -> bytes:
+  proc = subprocess.run(['zstd', '-d'], input=data, capture_output=True, check=True)
   return proc.stdout
 
 
 class LogReader:
-  def __init__(self, fn, sort_by_time=False):
+  def __init__(self, fn: str, sort_by_time: bool = False):
+    _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
+
     if fn.startswith("http"):
       with urlopen(fn) as f:
         dat = f.read()
     else:
-      dat = Path(fn).read_bytes()
+      with open(fn, "rb") as f:
+        dat = f.read()
+
+    if ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
+      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
+      dat = decompress_stream(dat)
 
-    if dat.startswith(b'\x28\xB5\x2F\xFD'):
-      dat = _zstd_decompress(dat)
+    ents = capnp_log.Event.read_multiple_bytes(dat)
 
-    rlog = capnp.load(str(Path(__file__).parent / "rlog.capnp"))
-    self._ents = list(rlog.Event.read_multiple_bytes(dat))
+    self._ents = []
+    try:
+      for e in ents:
+        self._ents.append(e)
+    except capnp.KjException:
+      warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
     if sort_by_time:
       self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self):
-    yield from self._ents
+    for ent in self._ents:
+      yield ent
 
   def filter(self, msg_type: str):
     return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))

From 6cb14ccbf1c2d36dc9b6bc02ddfdb21995b003fe Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 21:53:12 -0800
Subject: [PATCH 082/117] use logreader

---
 opendbc/car/tests/car_diff.py | 19 ++++---------------
 1 file changed, 4 insertions(+), 15 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 26da76e10be..96f5963b4e5 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -12,6 +12,8 @@
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
+from opendbc.car.logreader import LogReader
+
 from comma_car_segments import get_comma_car_segments_database, get_url
 
 TOLERANCE = 1e-4
@@ -47,28 +49,15 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
   return diffs
 
 
-def logreader_from_url(url):
-  import capnp
-
-  resp = requests.get(url)
-  assert resp.status_code == 200, f"Failed to download {url}: {resp.status_code}"
-  data = resp.content
-
-  if data.startswith(b'\x28\xB5\x2F\xFD'):  # zstd magic
-    data = zstd_decompress(data)
-
-  rlog = capnp.load(str(Path(__file__).parent / "rlog.capnp"))
-  return rlog.Event.read_multiple_bytes(data)
-
-
 def load_can_messages(seg):
   from opendbc.car.can_definitions import CanData
 
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
 
+  lr = LogReader(url)
   can_msgs = []
-  for evt in logreader_from_url(url):
+  for evt in lr:
     try:
       if evt.which() == "can":
         can_msgs.append((evt.logMonoTime, [CanData(c.address, c.dat, c.src) for c in evt.can]))

From 6e6127ae82d348f14d2820938bdedc17643b3083 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 21:53:34 -0800
Subject: [PATCH 083/117] remove requests

---
 opendbc/car/tests/car_diff.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 96f5963b4e5..34bd3c0958e 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -8,7 +8,7 @@
 import subprocess
 import sys
 import tempfile
-import requests
+from urllib.request import urlopen
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
@@ -132,9 +132,8 @@ def download_refs(ref_path, platforms, segments):
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
       try:
-        resp = requests.get(f"{base_url}/{filename}")
-        if resp.status_code == 200:
-          (Path(ref_path) / filename).write_bytes(resp.content)
+        with urlopen(f"{base_url}/{filename}") as resp:
+          (Path(ref_path) / filename).write_bytes(resp.read())
       except Exception:
         pass
 

From 2f3af7cbcf5b19395c1efd991c88980dde2863a0 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 22:09:22 -0800
Subject: [PATCH 084/117] return

---
 opendbc/car/logreader.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
index 397574e096e..46d62aab868 100644
--- a/opendbc/car/logreader.py
+++ b/opendbc/car/logreader.py
@@ -12,13 +12,13 @@
 capnp_log = capnp.load(os.path.join(BASEDIR, "rlog.capnp"))
 
 
-def decompress_stream(data: bytes) -> bytes:
+def decompress_stream(data: bytes):
   proc = subprocess.run(['zstd', '-d'], input=data, capture_output=True, check=True)
   return proc.stdout
 
 
 class LogReader:
-  def __init__(self, fn: str, sort_by_time: bool = False):
+  def __init__(self, fn, sort_by_time=False):
     _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
 
     if fn.startswith("http"):

From 95a5e5c631af58fa1056e107a67f2a5734c72c8e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 22:19:57 -0800
Subject: [PATCH 085/117] more line

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 34bd3c0958e..2662773423f 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -186,7 +186,7 @@ def format_diff(diffs):
 
     lines.append(f"\n  frames {t0}-{t1-1}")
     pad = 12
-    max_width = 60
+    max_width = 80
     init_val = not converge_val
     for label, vals, init in [("master", b_vals, init_val), ("PR", m_vals, init_val)]:
       line = f"  {label}:".ljust(pad)

From b6bc789fa95868035a07da70c1b5e58b7763fc34 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 22:30:14 -0800
Subject: [PATCH 086/117] ruff

---
 opendbc/car/logreader.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
index 46d62aab868..5f72bc89723 100644
--- a/opendbc/car/logreader.py
+++ b/opendbc/car/logreader.py
@@ -45,8 +45,7 @@ def __init__(self, fn, sort_by_time=False):
       self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self):
-    for ent in self._ents:
-      yield ent
+    yield from self._ents
 
   def filter(self, msg_type: str):
     return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))

From 02761501ca82d41867a1d7cecfd978a9e160e6e9 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 19:31:08 -0800
Subject: [PATCH 087/117] use test pip package

---
 pyproject.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pyproject.toml b/pyproject.toml
index 1a0ace169d8..6a10e92538b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,6 +20,7 @@ dependencies = [
 
 [project.optional-dependencies]
 testing = [
+  "comma-car-segments-test @ https://test-files.pythonhosted.org/packages/13/58/1a458fb78d2f9fde9f57b26ad7e0a86b9f2371d33436ef0df9512a5ba8b2/comma_car_segments_test-0.1.0-py3-none-any.whl",
   "cffi",
   "gcovr",
   # FIXME: pytest 9.0.0 doesn't support unittest.SkipTest

From ca5a18eb1a1d69974dc0107033c8106a4330236b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Wed, 14 Jan 2026 22:37:24 -0800
Subject: [PATCH 088/117] push on commaai

---
 .github/workflows/tests.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 8974b84991c..f86d77e14df 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -83,17 +83,17 @@ jobs:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
     - name: Update refs
-      if: github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
       run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
     - name: Checkout ci-artifacts
-      if: github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
       with:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Push refs
-      if: github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         ls ${{ github.workspace }}/car_diff/*.zst 2>/dev/null || exit 0

From 0108c6fc9b755d3d47ca4c80f7fd8e3bc8c97725 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 11:54:14 -0800
Subject: [PATCH 089/117] use zstandard lib

---
 opendbc/car/logreader.py      | 14 +++++++++-----
 opendbc/car/tests/car_diff.py | 19 ++++++-------------
 pyproject.toml                |  1 +
 3 files changed, 16 insertions(+), 18 deletions(-)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
index 5f72bc89723..e80bd6348a5 100644
--- a/opendbc/car/logreader.py
+++ b/opendbc/car/logreader.py
@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
 import os
-import subprocess
+import capnp
 import urllib.parse
 import warnings
 from urllib.request import urlopen
-
-import capnp
+import zstandard as zstd
 
 from opendbc.car.common.basedir import BASEDIR
 
@@ -13,8 +12,13 @@
 
 
 def decompress_stream(data: bytes):
-  proc = subprocess.run(['zstd', '-d'], input=data, capture_output=True, check=True)
-  return proc.stdout
+  dctx = zstd.ZstdDecompressor()
+  decompressed_data = b""
+
+  with dctx.stream_reader(data) as reader:
+    decompressed_data = reader.read()
+
+  return decompressed_data
 
 
 class LogReader:
diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 2662773423f..f38e010034b 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -8,29 +8,22 @@
 import subprocess
 import sys
 import tempfile
+import zstandard as zstd
 from urllib.request import urlopen
 from collections import defaultdict
 from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
-from opendbc.car.logreader import LogReader
 
 from comma_car_segments import get_comma_car_segments_database, get_url
 
+from opendbc.car.logreader import LogReader
+
+
 TOLERANCE = 1e-4
 DIFF_BUCKET = "car_diff"
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
 
 
-def zstd_decompress(data):
-  proc = subprocess.run(['zstd', '-d'], input=data, capture_output=True, check=True)
-  return proc.stdout
-
-
-def zstd_compress(data):
-  proc = subprocess.run(['zstd', '-c'], input=data, capture_output=True, check=True)
-  return proc.stdout
-
-
 def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
   ignore = ignore or []
   diffs = []
@@ -97,13 +90,13 @@ def process_segment(args):
 
     if update:
       data = list(zip(timestamps, states, strict=True))
-      ref_file.write_bytes(zstd_compress(pickle.dumps(data)))
+      ref_file.write_bytes(zstd.compress(pickle.dumps(data), 10))
       return (platform, seg, [], None)
 
     if not ref_file.exists():
       return (platform, seg, [], "no ref")
 
-    ref = pickle.loads(zstd_decompress(ref_file.read_bytes()))
+    ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
     diffs = []
     for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
       for diff in dict_diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
diff --git a/pyproject.toml b/pyproject.toml
index 6a10e92538b..666f1b3f362 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,6 +33,7 @@ testing = [
   "pytest-subtests",
   "hypothesis==6.47.*",
   "parameterized>=0.8,<0.9",
+  "zstandard",
 
   # static analysis
   "ruff",

From 47145c4a9bc028376452cbc97a6918abc57c359f Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 14:23:14 -0800
Subject: [PATCH 090/117] clean

---
 opendbc/car/tests/car_diff.py | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index f38e010034b..191483d0e95 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -70,13 +70,14 @@ def replay_segment(platform, can_msgs):
         fingerprint[msg.src][msg.address] = len(msg.dat)
 
   CarInterface = interfaces[platform]
-  car_interface = CarInterface(CarInterface.get_params(platform, fingerprint, [], False, False, False))
-  car_control = structs.CarControl().as_reader()
+  CP = CarInterface.get_params(platform, fingerprint, [], False, False, False)
+  CI = CarInterface(CP)
+  CC = structs.CarControl().as_reader()
 
   states, timestamps = [], []
   for ts, frames in can_msgs:
-    states.append(car_interface.update([(ts, frames)]))
-    car_interface.apply(car_control, ts)
+    states.append(CI.update([(ts, frames)]))
+    CI.apply(CC, ts)
     timestamps.append(ts)
   return states, timestamps
 
@@ -260,13 +261,13 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
 
   print(f"\nResults: {n_passed} passed, {len(with_diffs)} with diffs, {len(errors)} errors")
 
-  for plat, seg, err in errors:
-    print(f"\nERROR {plat} - {seg}: {err}")
+  for platform, seg, err in errors:
+    print(f"\nERROR {platform} - {seg}: {err}")
 
   if with_diffs:
     print("```")
-    for plat, seg, diffs in with_diffs:
-      print(f"\n{plat} - {seg}")
+    for platform, seg, diffs in with_diffs:
+      print(f"\n{platform} - {seg}")
       by_field = defaultdict(list)
       for d in diffs:
         by_field[d[0]].append(d)

From 0b32b0607392a880db9d9c3338712081adae7005 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 14:35:42 -0800
Subject: [PATCH 091/117] rename

---
 opendbc/car/tests/car_diff.py | 104 +++++++++++++++++-----------------
 1 file changed, 53 insertions(+), 51 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 191483d0e95..a79ebfc670d 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -142,79 +142,81 @@ def run_replay(platforms, segments, ref_path, update, workers=4):
 def format_diff(diffs):
   if not diffs:
     return []
+
+  frame_group = 15
+  frame_pad = 5
+  graph_pad = 12
+  graph_width = 80
+  wave = {(False, True): "/", (True, False): "\\", (True, True): "‾", (False, False): "_"}
+
   old, new = diffs[0][2]
   if not (isinstance(old, bool) and isinstance(new, bool)):
-    return [f"    frame {d[1]}: {d[2][0]} -> {d[2][1]}" for d in diffs[:10]]
-
-  lines = []
-  ranges, cur = [], [diffs[0]]
-  for d in diffs[1:]:
-    if d[1] <= cur[-1][1] + 15:
-      cur.append(d)
+    lines = [f"    frame {diff[1]}: {diff[2][0]} -> {diff[2][1]}" for diff in diffs[:10]]
+    if len(diffs) > 10:
+      lines.append(f"    (... {len(diffs) - 10} more)")
+    return lines
+
+  ranges, current = [], [diffs[0]]
+  for diff in diffs[1:]:
+    if diff[1] <= current[-1][1] + frame_group:
+      current.append(diff)
     else:
-      ranges.append(cur)
-      cur = [d]
-  ranges.append(cur)
+      ranges.append(current)
+      current = [diff]
+  ranges.append(current)
 
   # ms per frame from timestamps, fallback to 10ms on single diff
   frame_diff = diffs[-1][1] - diffs[0][1]
   frame_ms = (diffs[-1][3] - diffs[0][3]) / 1e6 / frame_diff if frame_diff else 10
 
-  for rdiffs in ranges:
-    t0, t1 = max(0, rdiffs[0][1] - 5), rdiffs[-1][1] + 6
-    diff_map = {d[1]: d for d in rdiffs}
+  lines = []
+  for range_diffs in ranges:
+    start, end = max(0, range_diffs[0][1] - frame_pad), range_diffs[-1][1] + frame_pad + 1
+    diff_map = {diff[1]: diff for diff in range_diffs}
 
-    b_vals, m_vals = [], []
-    last = rdiffs[-1]
+    last = range_diffs[-1]
     converge_frame = last[1] + 1
-    converge_val = last[2][1]
-    b_st = m_st = not converge_val
-
-    for f in range(t0, t1):
-      if f in diff_map:
-        b_st, m_st = diff_map[f][2]
-      elif f >= converge_frame:
-        b_st = m_st = converge_val
-      b_vals.append(b_st)
+    converge_val   = last[2][1]
+    m_st = pr_st = not converge_val
+
+    m_vals, pr_vals = [], []
+    for frame in range(start, end):
+      if frame in diff_map:
+        m_st, pr_st = diff_map[frame][2]
+      elif frame >= converge_frame:
+        m_st = pr_st = converge_val
       m_vals.append(m_st)
+      pr_vals.append(pr_st)
 
-    lines.append(f"\n  frames {t0}-{t1-1}")
-    pad = 12
-    max_width = 80
+    lines.append(f"\n  frames {start}-{end - 1}")
     init_val = not converge_val
-    for label, vals, init in [("master", b_vals, init_val), ("PR", m_vals, init_val)]:
-      line = f"  {label}:".ljust(pad)
-      for i, v in enumerate(vals):
-        pv = vals[i - 1] if i > 0 else init
-        if v and not pv:
-          line += "/"
-        elif not v and pv:
-          line += "\\"
-        elif v:
-          line += "‾"
-        else:
-          line += "_"
-      if len(line) > pad + max_width:
-        line = line[:pad + max_width] + "..."
+    for label, vals in [("master", m_vals), ("PR", pr_vals)]:
+      line = f"  {label}:".ljust(graph_pad)
+      for i, val in enumerate(vals):
+        prev = vals[i - 1] if i else init_val
+        line += wave[(prev, val)]
+      if len(line) > graph_pad + graph_width:
+        line = line[:graph_pad + graph_width] + "..."
       lines.append(line)
 
-    b_rises = [i for i, v in enumerate(b_vals) if v and (i == 0 or not b_vals[i - 1])]
-    m_rises = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
-    b_falls = [i for i, v in enumerate(b_vals) if not v and i > 0 and b_vals[i - 1]]
-    m_falls = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
+    m_rises  = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
+    pr_rises = [i for i, v in enumerate(pr_vals) if v and (i == 0 or not pr_vals[i - 1])]
+    m_falls  = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
+    pr_falls = [i for i, v in enumerate(pr_vals) if not v and i > 0 and pr_vals[i - 1]]
 
-    if b_rises and m_rises:
-      delta = m_rises[0] - b_rises[0]
+    if m_rises and pr_rises:
+      delta = pr_rises[0] - m_rises[0]
       if delta:
         ms = int(abs(delta) * frame_ms)
         direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
-    if b_falls and m_falls:
-      delta = m_falls[0] - b_falls[0]
+        lines.append(" " * graph_pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
+
+    if m_falls and pr_falls:
+      delta = pr_falls[0] - m_falls[0]
       if delta:
         ms = int(abs(delta) * frame_ms)
         direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
+        lines.append(" " * graph_pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
 
   return lines
 

From 8537c4799035124c79a2acccaa37aef5d8a18589 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 15:34:36 -0800
Subject: [PATCH 092/117] use decompress

---
 opendbc/car/tests/car_diff.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index a79ebfc670d..b24cb313cef 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -16,7 +16,7 @@
 
 from comma_car_segments import get_comma_car_segments_database, get_url
 
-from opendbc.car.logreader import LogReader
+from opendbc.car.logreader import LogReader, decompress_stream
 
 
 TOLERANCE = 1e-4
@@ -97,7 +97,7 @@ def process_segment(args):
     if not ref_file.exists():
       return (platform, seg, [], "no ref")
 
-    ref = pickle.loads(zstd.decompress(ref_file.read_bytes()))
+    ref = pickle.loads(decompress_stream(ref_file.read_bytes()))
     diffs = []
     for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
       for diff in dict_diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):

From ff8a182ac1740f9dec43815908fc30fd9ae3c15d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 15:38:35 -0800
Subject: [PATCH 093/117] fix

---
 opendbc/car/tests/car_diff.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index b24cb313cef..4fc3af600e7 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -263,13 +263,13 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
 
   print(f"\nResults: {n_passed} passed, {len(with_diffs)} with diffs, {len(errors)} errors")
 
-  for platform, seg, err in errors:
-    print(f"\nERROR {platform} - {seg}: {err}")
+  for plat, seg, err in errors:
+    print(f"\nERROR {plat} - {seg}: {err}")
 
   if with_diffs:
     print("```")
-    for platform, seg, diffs in with_diffs:
-      print(f"\n{platform} - {seg}")
+    for plat, seg, diffs in with_diffs:
+      print(f"\n{plat} - {seg}")
       by_field = defaultdict(list)
       for d in diffs:
         by_field[d[0]].append(d)

From a0e73eb8f027dee54551dadcae34cf3d70cf1e25 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 16:21:45 -0800
Subject: [PATCH 094/117] index

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 4fc3af600e7..79932d654c2 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -176,7 +176,7 @@ def format_diff(diffs):
 
     last = range_diffs[-1]
     converge_frame = last[1] + 1
-    converge_val   = last[2][1]
+    converge_val   = last[2][0]
     m_st = pr_st = not converge_val
 
     m_vals, pr_vals = [], []

From aa7de954a0f33bd905759eedff55b9c01b6b9bb5 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 22:49:08 -0800
Subject: [PATCH 095/117] lr filter

---
 opendbc/car/tests/car_diff.py | 31 ++++++++++++-------------------
 1 file changed, 12 insertions(+), 19 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 79932d654c2..e5d22d2afc1 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -43,31 +43,22 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
 
 
 def load_can_messages(seg):
-  from opendbc.car.can_definitions import CanData
-
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-
   lr = LogReader(url)
-  can_msgs = []
-  for evt in lr:
-    try:
-      if evt.which() == "can":
-        can_msgs.append((evt.logMonoTime, [CanData(c.address, c.dat, c.src) for c in evt.can]))
-    except Exception:
-      pass
-  return can_msgs
+  return list(lr.filter('can'))
 
 
 def replay_segment(platform, can_msgs):
   from opendbc.car import gen_empty_fingerprint, structs
+  from opendbc.car.can_definitions import CanData
   from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 
   fingerprint = gen_empty_fingerprint()
-  for _, frames in can_msgs[:FRAME_FINGERPRINT]:
-    for msg in frames:
-      if msg.src < 64:
-        fingerprint[msg.src][msg.address] = len(msg.dat)
+  for can in can_msgs[:FRAME_FINGERPRINT]:
+    for m in can:
+      if m.src < 64:
+        fingerprint[m.src][m.address] = len(m.dat)
 
   CarInterface = interfaces[platform]
   CP = CarInterface.get_params(platform, fingerprint, [], False, False, False)
@@ -75,10 +66,12 @@ def replay_segment(platform, can_msgs):
   CC = structs.CarControl().as_reader()
 
   states, timestamps = [], []
-  for ts, frames in can_msgs:
-    states.append(CI.update([(ts, frames)]))
-    CI.apply(CC, ts)
-    timestamps.append(ts)
+  for i, can in enumerate(can_msgs):
+    t = int(0.01 * i * 1e9)
+    frames = [CanData(m.address, m.dat, m.src) for m in can]
+    states.append(CI.update([(t, frames)]))
+    CI.apply(CC, t)
+    timestamps.append(t)
   return states, timestamps
 
 

From 749a7c33faab64c7678ff1cbfb6e1ebb2b23f879 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Thu, 15 Jan 2026 23:39:14 -0800
Subject: [PATCH 096/117] union types

---
 opendbc/car/logreader.py      | 13 +++++++++++--
 opendbc/car/tests/car_diff.py |  2 +-
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/logreader.py b/opendbc/car/logreader.py
index e80bd6348a5..93b2359fb5b 100644
--- a/opendbc/car/logreader.py
+++ b/opendbc/car/logreader.py
@@ -22,7 +22,8 @@ def decompress_stream(data: bytes):
 
 
 class LogReader:
-  def __init__(self, fn, sort_by_time=False):
+  def __init__(self, fn, only_union_types=False, sort_by_time=False):
+    self._only_union_types = only_union_types
     _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
 
     if fn.startswith("http"):
@@ -49,7 +50,15 @@ def __init__(self, fn, sort_by_time=False):
       self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self):
-    yield from self._ents
+    for ent in self._ents:
+      if self._only_union_types:
+        try:
+          ent.which()
+          yield ent
+        except capnp.lib.capnp.KjException:
+          pass
+      else:
+        yield ent
 
   def filter(self, msg_type: str):
     return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))
diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index e5d22d2afc1..d77086f1cae 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -45,7 +45,7 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
 def load_can_messages(seg):
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-  lr = LogReader(url)
+  lr = LogReader(url, only_union_types=True)
   return list(lr.filter('can'))
 
 

From 910932b9bf1bb28441d85c5542e3af1c5774df69 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:38:41 -0800
Subject: [PATCH 097/117] find edges

---
 opendbc/car/tests/car_diff.py | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index d77086f1cae..3ce8bc811e5 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -132,6 +132,19 @@ def run_replay(platforms, segments, ref_path, update, workers=4):
     return list(pool.map(process_segment, work))
 
 
+def find_edges(vals, init):
+  rises = []
+  falls = []
+  prev = init
+  for i, val in enumerate(vals):
+    if val and not prev:
+      rises.append(i)
+    if not val and prev:
+      falls.append(i)
+    prev = val
+  return rises, falls
+
+
 def format_diff(diffs):
   if not diffs:
     return []
@@ -192,10 +205,8 @@ def format_diff(diffs):
         line = line[:graph_pad + graph_width] + "..."
       lines.append(line)
 
-    m_rises  = [i for i, v in enumerate(m_vals) if v and (i == 0 or not m_vals[i - 1])]
-    pr_rises = [i for i, v in enumerate(pr_vals) if v and (i == 0 or not pr_vals[i - 1])]
-    m_falls  = [i for i, v in enumerate(m_vals) if not v and i > 0 and m_vals[i - 1]]
-    pr_falls = [i for i, v in enumerate(pr_vals) if not v and i > 0 and pr_vals[i - 1]]
+    m_rises, m_falls = find_edges(m_vals, init_val)
+    pr_rises, pr_falls = find_edges(pr_vals, init_val)
 
     if m_rises and pr_rises:
       delta = pr_rises[0] - m_rises[0]

From 3cc0d33d3b8df93ad17ea36546514768906f3cc2 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:39:06 -0800
Subject: [PATCH 098/117] group frames

---
 opendbc/car/tests/car_diff.py | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 3ce8bc811e5..91f6a77592b 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -145,11 +145,25 @@ def find_edges(vals, init):
   return rises, falls
 
 
+def group_frames(diffs, max_gap=15):
+  groups = []
+  current = [diffs[0]]
+  for diff in diffs[1:]:
+    _, frame, _, _ = diff
+    _, prev_frame, _, _ = current[-1]
+    if frame <= prev_frame + max_gap:
+      current.append(diff)
+    else:
+      groups.append(current)
+      current = [diff]
+  groups.append(current)
+  return groups
+
+
 def format_diff(diffs):
   if not diffs:
     return []
 
-  frame_group = 15
   frame_pad = 5
   graph_pad = 12
   graph_width = 80
@@ -162,14 +176,7 @@ def format_diff(diffs):
       lines.append(f"    (... {len(diffs) - 10} more)")
     return lines
 
-  ranges, current = [], [diffs[0]]
-  for diff in diffs[1:]:
-    if diff[1] <= current[-1][1] + frame_group:
-      current.append(diff)
-    else:
-      ranges.append(current)
-      current = [diff]
-  ranges.append(current)
+  ranges = group_frames(diffs)
 
   # ms per frame from timestamps, fallback to 10ms on single diff
   frame_diff = diffs[-1][1] - diffs[0][1]

From 7b16053f86f879d5c755f76fbe9d55a501e7ac80 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:40:07 -0800
Subject: [PATCH 099/117] render waveform

---
 opendbc/car/tests/car_diff.py | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 91f6a77592b..ad6bc5c7ab4 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -145,6 +145,18 @@ def find_edges(vals, init):
   return rises, falls
 
 
+def render_waveform(label, vals, init):
+  wave = {(False, False): "_", (True, True): "‾", (False, True): "/", (True, False): "\\"}
+  line = f"  {label}:".ljust(12)
+  prev = init
+  for val in vals:
+    line += wave[(prev, val)]
+    prev = val
+  if len(line) > 80:
+    line = line[:80] + "..."
+  return line
+
+
 def group_frames(diffs, max_gap=15):
   groups = []
   current = [diffs[0]]
@@ -166,8 +178,6 @@ def format_diff(diffs):
 
   frame_pad = 5
   graph_pad = 12
-  graph_width = 80
-  wave = {(False, True): "/", (True, False): "\\", (True, True): "‾", (False, False): "_"}
 
   old, new = diffs[0][2]
   if not (isinstance(old, bool) and isinstance(new, bool)):
@@ -203,14 +213,8 @@ def format_diff(diffs):
 
     lines.append(f"\n  frames {start}-{end - 1}")
     init_val = not converge_val
-    for label, vals in [("master", m_vals), ("PR", pr_vals)]:
-      line = f"  {label}:".ljust(graph_pad)
-      for i, val in enumerate(vals):
-        prev = vals[i - 1] if i else init_val
-        line += wave[(prev, val)]
-      if len(line) > graph_pad + graph_width:
-        line = line[:graph_pad + graph_width] + "..."
-      lines.append(line)
+    lines.append(render_waveform("master", m_vals, init_val))
+    lines.append(render_waveform("PR", pr_vals, init_val))
 
     m_rises, m_falls = find_edges(m_vals, init_val)
     pr_rises, pr_falls = find_edges(pr_vals, init_val)

From 06eab0d395daf8339ec5ee8f1330506a6b6f24b8 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:41:57 -0800
Subject: [PATCH 100/117] format timing

---
 opendbc/car/tests/car_diff.py | 29 +++++++++++++++--------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index ad6bc5c7ab4..d0dd1a5383a 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -157,6 +157,17 @@ def render_waveform(label, vals, init):
   return line
 
 
+def format_timing(edge_type, master_edges, pr_edges, ms_per_frame):
+  if not master_edges or not pr_edges:
+    return None
+  delta = pr_edges[0] - master_edges[0]
+  if delta == 0:
+    return None
+  direction = "lags" if delta > 0 else "leads"
+  ms = int(abs(delta) * ms_per_frame)
+  return " " * 12 + f"{edge_type}: PR {direction} by {abs(delta)} frames ({ms}ms)"
+
+
 def group_frames(diffs, max_gap=15):
   groups = []
   current = [diffs[0]]
@@ -177,7 +188,6 @@ def format_diff(diffs):
     return []
 
   frame_pad = 5
-  graph_pad = 12
 
   old, new = diffs[0][2]
   if not (isinstance(old, bool) and isinstance(new, bool)):
@@ -219,19 +229,10 @@ def format_diff(diffs):
     m_rises, m_falls = find_edges(m_vals, init_val)
     pr_rises, pr_falls = find_edges(pr_vals, init_val)
 
-    if m_rises and pr_rises:
-      delta = pr_rises[0] - m_rises[0]
-      if delta:
-        ms = int(abs(delta) * frame_ms)
-        direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * graph_pad + f"rise: PR {direction} by {abs(delta)} frames ({ms}ms)")
-
-    if m_falls and pr_falls:
-      delta = pr_falls[0] - m_falls[0]
-      if delta:
-        ms = int(abs(delta) * frame_ms)
-        direction = "lags" if delta > 0 else "leads"
-        lines.append(" " * graph_pad + f"fall: PR {direction} by {abs(delta)} frames ({ms}ms)")
+    for edge_type, master_edges, pr_edges in [("rise", m_rises, pr_rises), ("fall", m_falls, pr_falls)]:
+      msg = format_timing(edge_type, master_edges, pr_edges, frame_ms)
+      if msg:
+        lines.append(msg)
 
   return lines
 

From cba48abd6c807f6974c244fb992c5c4dd451181b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:42:39 -0800
Subject: [PATCH 101/117] signals

---
 opendbc/car/tests/car_diff.py | 51 ++++++++++++++++++-----------------
 1 file changed, 27 insertions(+), 24 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index d0dd1a5383a..47fb06457da 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -183,12 +183,31 @@ def group_frames(diffs, max_gap=15):
   return groups
 
 
+def build_signals(group):
+  _, first_frame, _, _ = group[0]
+  _, last_frame, (final_master, _), _ = group[-1]
+  start = max(0, first_frame - 5)
+  end = last_frame + 6
+  init = not final_master
+  diff_at = {frame: (m, p) for _, frame, (m, p), _ in group}
+  master_vals = []
+  pr_vals = []
+  master = init
+  pr = init
+  for frame in range(start, end):
+    if frame in diff_at:
+      master, pr = diff_at[frame]
+    elif frame > last_frame:
+      master = pr = final_master
+    master_vals.append(master)
+    pr_vals.append(pr)
+  return master_vals, pr_vals, init, start, end
+
+
 def format_diff(diffs):
   if not diffs:
     return []
 
-  frame_pad = 5
-
   old, new = diffs[0][2]
   if not (isinstance(old, bool) and isinstance(new, bool)):
     lines = [f"    frame {diff[1]}: {diff[2][0]} -> {diff[2][1]}" for diff in diffs[:10]]
@@ -203,31 +222,15 @@ def format_diff(diffs):
   frame_ms = (diffs[-1][3] - diffs[0][3]) / 1e6 / frame_diff if frame_diff else 10
 
   lines = []
-  for range_diffs in ranges:
-    start, end = max(0, range_diffs[0][1] - frame_pad), range_diffs[-1][1] + frame_pad + 1
-    diff_map = {diff[1]: diff for diff in range_diffs}
-
-    last = range_diffs[-1]
-    converge_frame = last[1] + 1
-    converge_val   = last[2][0]
-    m_st = pr_st = not converge_val
-
-    m_vals, pr_vals = [], []
-    for frame in range(start, end):
-      if frame in diff_map:
-        m_st, pr_st = diff_map[frame][2]
-      elif frame >= converge_frame:
-        m_st = pr_st = converge_val
-      m_vals.append(m_st)
-      pr_vals.append(pr_st)
+  for group in ranges:
+    master_vals, pr_vals, init, start, end = build_signals(group)
 
     lines.append(f"\n  frames {start}-{end - 1}")
-    init_val = not converge_val
-    lines.append(render_waveform("master", m_vals, init_val))
-    lines.append(render_waveform("PR", pr_vals, init_val))
+    lines.append(render_waveform("master", master_vals, init))
+    lines.append(render_waveform("PR", pr_vals, init))
 
-    m_rises, m_falls = find_edges(m_vals, init_val)
-    pr_rises, pr_falls = find_edges(pr_vals, init_val)
+    m_rises, m_falls = find_edges(master_vals, init)
+    pr_rises, pr_falls = find_edges(pr_vals, init)
 
     for edge_type, master_edges, pr_edges in [("rise", m_rises, pr_rises), ("fall", m_falls, pr_falls)]:
       msg = format_timing(edge_type, master_edges, pr_edges, frame_ms)

From 357f1eabb238b544e60fc23b6a32a4e9f8455c6a Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:43:02 -0800
Subject: [PATCH 102/117] numeric diff

---
 opendbc/car/tests/car_diff.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 47fb06457da..2db96c62124 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -204,16 +204,22 @@ def build_signals(group):
   return master_vals, pr_vals, init, start, end
 
 
+def format_numeric_diffs(diffs):
+  lines = []
+  for _, frame, (old_val, new_val), _ in diffs[:10]:
+    lines.append(f"    frame {frame}: {old_val} -> {new_val}")
+  if len(diffs) > 10:
+    lines.append(f"    (... {len(diffs) - 10} more)")
+  return lines
+
+
 def format_diff(diffs):
   if not diffs:
     return []
 
-  old, new = diffs[0][2]
+  _, _, (old, new), _ = diffs[0]
   if not (isinstance(old, bool) and isinstance(new, bool)):
-    lines = [f"    frame {diff[1]}: {diff[2][0]} -> {diff[2][1]}" for diff in diffs[:10]]
-    if len(diffs) > 10:
-      lines.append(f"    (... {len(diffs) - 10} more)")
-    return lines
+    return format_numeric_diffs(diffs)
 
   ranges = group_frames(diffs)
 

From 37585e5bf1608ebe16ac80b35b45616e26b36f69 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 15:43:36 -0800
Subject: [PATCH 103/117] boolean diff

---
 opendbc/car/tests/car_diff.py | 42 +++++++++++++++++------------------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 2db96c62124..a4759cc7805 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -213,39 +213,37 @@ def format_numeric_diffs(diffs):
   return lines
 
 
-def format_diff(diffs):
-  if not diffs:
-    return []
-
-  _, _, (old, new), _ = diffs[0]
-  if not (isinstance(old, bool) and isinstance(new, bool)):
-    return format_numeric_diffs(diffs)
-
-  ranges = group_frames(diffs)
-
-  # ms per frame from timestamps, fallback to 10ms on single diff
-  frame_diff = diffs[-1][1] - diffs[0][1]
-  frame_ms = (diffs[-1][3] - diffs[0][3]) / 1e6 / frame_diff if frame_diff else 10
-
+def format_boolean_diffs(diffs):
+  _, first_frame, _, first_ts = diffs[0]
+  _, last_frame, _, last_ts = diffs[-1]
+  frame_time = last_frame - first_frame
+  time_ms = (last_ts - first_ts) / 1e6
+  ms = time_ms / frame_time if frame_time else 10.0
   lines = []
-  for group in ranges:
+  for group in group_frames(diffs):
     master_vals, pr_vals, init, start, end = build_signals(group)
-
     lines.append(f"\n  frames {start}-{end - 1}")
     lines.append(render_waveform("master", master_vals, init))
     lines.append(render_waveform("PR", pr_vals, init))
-
-    m_rises, m_falls = find_edges(master_vals, init)
+    master_rises, master_falls = find_edges(master_vals, init)
     pr_rises, pr_falls = find_edges(pr_vals, init)
-
-    for edge_type, master_edges, pr_edges in [("rise", m_rises, pr_rises), ("fall", m_falls, pr_falls)]:
-      msg = format_timing(edge_type, master_edges, pr_edges, frame_ms)
+    for edge_type, master_edges, pr_edges in [("rise", master_rises, pr_rises), ("fall", master_falls, pr_falls)]:
+      msg = format_timing(edge_type, master_edges, pr_edges, ms)
       if msg:
         lines.append(msg)
-
   return lines
 
 
+def format_diff(diffs):
+  if not diffs:
+    return []
+  _, _, (old, new), _ = diffs[0]
+  is_bool = isinstance(old, bool) and isinstance(new, bool)
+  if is_bool:
+    return format_boolean_diffs(diffs)
+  return format_numeric_diffs(diffs)
+
+
 def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
   from opendbc.car.car_helpers import interfaces
 

From 1a418973954b1f289d827e199753fcaedcdafd82 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 17:06:30 -0800
Subject: [PATCH 104/117] real timestamp

---
 opendbc/car/tests/car_diff.py | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index a4759cc7805..a3581cf95f0 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -45,8 +45,8 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
 def load_can_messages(seg):
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-  lr = LogReader(url, only_union_types=True)
-  return list(lr.filter('can'))
+  msgs = LogReader(url, only_union_types=True)
+  return [m for m in msgs if m.which() == 'can']
 
 
 def replay_segment(platform, can_msgs):
@@ -55,8 +55,8 @@ def replay_segment(platform, can_msgs):
   from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 
   fingerprint = gen_empty_fingerprint()
-  for can in can_msgs[:FRAME_FINGERPRINT]:
-    for m in can:
+  for msg in can_msgs[:FRAME_FINGERPRINT]:
+    for m in msg.can:
       if m.src < 64:
         fingerprint[m.src][m.address] = len(m.dat)
 
@@ -66,12 +66,11 @@ def replay_segment(platform, can_msgs):
   CC = structs.CarControl().as_reader()
 
   states, timestamps = [], []
-  for i, can in enumerate(can_msgs):
-    t = int(0.01 * i * 1e9)
-    frames = [CanData(m.address, m.dat, m.src) for m in can]
-    states.append(CI.update([(t, frames)]))
-    CI.apply(CC, t)
-    timestamps.append(t)
+  for msg in can_msgs:
+    frames = [CanData(c.address, c.dat, c.src) for c in msg.can]
+    states.append(CI.update([(msg.logMonoTime, frames)]))
+    CI.apply(CC, msg.logMonoTime)
+    timestamps.append(msg.logMonoTime)
   return states, timestamps
 
 

From 692e34c7f8df6540c26eca79799a8eac47f352bc Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 16:21:20 -0800
Subject: [PATCH 105/117] impreza fingerprint

---
 opendbc/car/docs_definitions.py     | 23 +++++++++----------
 opendbc/car/extra_cars.py           | 24 ++++++++++----------
 opendbc/car/subaru/fingerprints.py  |  5 +++++
 opendbc/car/tesla/carcontroller.py  |  2 +-
 opendbc/car/tesla/carstate.py       |  7 +++++-
 opendbc/car/tesla/fingerprints.py   |  2 ++
 opendbc/car/tesla/interface.py      |  9 ++++++--
 opendbc/car/tesla/teslacan.py       | 19 +++++++++++++---
 opendbc/car/tesla/values.py         | 10 +++++++++
 opendbc/car/toyota/carcontroller.py | 15 +++++++------
 opendbc/safety/modes/tesla.h        | 26 +++++++++++++++++----
 opendbc/safety/tests/test_tesla.py  | 35 ++++++++++++++++++-----------
 setup.sh                            |  2 +-
 13 files changed, 123 insertions(+), 56 deletions(-)

diff --git a/opendbc/car/docs_definitions.py b/opendbc/car/docs_definitions.py
index 2f49b834f61..c77573930a8 100644
--- a/opendbc/car/docs_definitions.py
+++ b/opendbc/car/docs_definitions.py
@@ -78,7 +78,6 @@ class Cable(EnumBase):
   long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
   usb_a_2_a_cable = BasePart("USB A-A cable")
   usbc_otg_cable = BasePart("USB C OTG cable")
-  usbc_coupler = BasePart("USB-C coupler")
   obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
 
 
@@ -112,7 +111,7 @@ class CarHarness(EnumBase):
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
@@ -132,18 +131,18 @@ class CarHarness(EnumBase):
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
+  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
-  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
-  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
 
 
 class Device(EnumBase):
@@ -394,7 +393,7 @@ def get_extra_cars_column(self, column: ExtraCarsColumn) -> str:
 
 @dataclass
 class ExtraCarDocs(CarDocs):
-  package: str = "Any"
+  package: str = "All"
   merged: bool = False
   support_type: SupportType = SupportType.INCOMPATIBLE
   support_link: str | None = "#incompatible"
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
index 5ffa42bf4a3..fed2f5a4914 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -37,19 +37,19 @@ class CAR(Platforms):
 
   EXTRA_HONDA = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Acura Integra 2023-25", "All"),
+      CommunityCarDocs("Acura Integra 2023-25"),
       CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
-      CommunityCarDocs("Acura MDX 2017-20", "All"),
-      CommunityCarDocs("Acura MDX 2022-24", "All"),
-      CommunityCarDocs("Acura RDX 2022-25", "All"),
+      CommunityCarDocs("Acura MDX 2017-20"),
+      CommunityCarDocs("Acura MDX 2022-24"),
+      CommunityCarDocs("Acura RDX 2022-25"),
       CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
       CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
-      CommunityCarDocs("Acura TLX 2018-20", "All"),
-      CommunityCarDocs("Acura TLX 2022-23", "All"),
-      GMSecurityCarDocs("Acura ZDX 2024", "All"),
+      CommunityCarDocs("Acura TLX 2018-20"),
+      CommunityCarDocs("Acura TLX 2022-23"),
+      GMSecurityCarDocs("Acura ZDX 2024"),
       CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
-      CommunityCarDocs("Honda Clarity 2018-21", "All"),
-      GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
+      CommunityCarDocs("Honda Clarity 2018-21"),
+      GMSecurityCarDocs("Honda Prologue 2024-25"),
     ],
   )
 
@@ -78,8 +78,8 @@ class CAR(Platforms):
 
   EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
-      FlexRayCarDocs("Audi A4 2016-24", package="All"),
-      FlexRayCarDocs("Audi A5 2016-24", package="All"),
-      FlexRayCarDocs("Audi Q5 2017-24", package="All"),
+      FlexRayCarDocs("Audi A4 2016-24"),
+      FlexRayCarDocs("Audi A5 2016-24"),
+      FlexRayCarDocs("Audi Q5 2017-24"),
     ],
   )
diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 64158446bd3..9addabaa1e9 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -97,6 +97,7 @@
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
       b'\xa2 \x19`\x00',
+      b'\xa2  5\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'z\xc0\x00\x00',
@@ -106,6 +107,7 @@
       b'z\xc0\x0c\x00',
       b'\x8a\xc0\x00\x00',
       b'\x8a\xc0\x10\x00',
+      b'\x9a\xc0\x08\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00c\xf4\x00\x00\x00\x00',
@@ -122,6 +124,7 @@
       b'\x00\x00e\x1c\x1f@ \x14',
       b'\x00\x00e+\x00\x00\x00\x00',
       b'\x00\x00e+\x1f@ \x14',
+      b'\x00\x00eq\x1f@ "',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x00Bu\x07',
@@ -145,6 +148,7 @@
       b'\xc5!as\x07',
       b'\xc5!dr\x07',
       b'\xc5!ds\x07',
+      b'\xca\x01b0\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xd0\x081\x00',
@@ -163,6 +167,7 @@
       b'\xe5\xf5\x04\x00\x00',
       b'\xe5\xf5$\x00\x00',
       b'\xe5\xf5B\x00\x00',
+      b'\xe6\xd5\x041\x00',
     ],
   },
   CAR.SUBARU_IMPREZA_2020: {
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 986897f8494..8b7d9989c44 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -20,7 +20,7 @@ def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_names[Bus.party])
-    self.tesla_can = TeslaCAN(self.packer)
+    self.tesla_can = TeslaCAN(CP, self.packer)
 
     # Vehicle model used for lateral limiting
     self.VM = VehicleModel(get_safety_CP())
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index fa16116b3b4..2e56a8b033e 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -3,6 +3,7 @@
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
+from opendbc.car.tesla.teslacan import get_steer_ctrl_type
 from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -105,7 +106,11 @@ def update(self, can_parsers) -> structs.CarState:
     ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
 
     # LKAS
-    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2  # LANE_KEEP_ASSIST
+    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
+    # FSD switched from using ANGLE_CONTROL to LANE_KEEP_ASSIST to likely keep the old steering override disengage logic.
+    # LKAS switched from LANE_KEEP_ASSIST to ANGLE_CONTROL to likely allow overriding LKAS events smoothly
+    lkas_ctrl_type = get_steer_ctrl_type(self.CP.flags, 2)
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
 
     # Stock Autosteer should be off (includes FSD)
     if self.CP.carFingerprint in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y):
diff --git a/opendbc/car/tesla/fingerprints.py b/opendbc/car/tesla/fingerprints.py
index 54705385a6e..2ebaef0b8fb 100644
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -36,6 +36,8 @@
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
       b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
+      b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
+      b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
     ],
   },
   CAR.TESLA_MODEL_X: {
diff --git a/opendbc/car/tesla/interface.py b/opendbc/car/tesla/interface.py
index baf1593238a..c53ad621937 100644
--- a/opendbc/car/tesla/interface.py
+++ b/opendbc/car/tesla/interface.py
@@ -2,7 +2,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CAR, FSD_14_FW, Ecu
 
 
 class CarInterface(CarInterfaceBase):
@@ -31,6 +31,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.vEgoStarting = 0.1
       ret.stoppingDecelRate = 0.3
 
-    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X) # dashcam only, pending find invalidLkasSetting signal
+    fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
+    if fsd_14:
+      ret.flags |= TeslaFlags.FSD_14.value
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.FSD_14.value
+
+    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal
 
     return ret
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index 4bfc67a4e36..7449b961f17 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -1,16 +1,29 @@
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.tesla.values import CANBUS, CarControllerParams
+from opendbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags
+
+
+def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
+  # Returns the flipped signal value for DAS_steeringControlType on FSD 14
+  if flags & TeslaFlags.FSD_14:
+    return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
+  else:
+    return ctrl_type
 
 
 class TeslaCAN:
-  def __init__(self, packer):
+  def __init__(self, CP, packer):
+    self.CP = CP
     self.packer = packer
 
   def create_steering_control(self, angle, enabled):
+    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
+    # with openpilot, after overriding w/ ANGLE_CONTROL the wheel snaps back to the original angle abruptly
+    # so we now use LANE_KEEP_ASSIST to match stock FSD.
+    # see carstate.py for more details
     values = {
       "DAS_steeringAngleRequest": -angle,
       "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": 1 if enabled else 0,
+      "DAS_steeringControlType": get_steer_ctrl_type(self.CP.flags, 1 if enabled else 0),
     }
 
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
diff --git a/opendbc/car/tesla/values.py b/opendbc/car/tesla/values.py
index 6fedfaac027..92a08d2a87f 100644
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -72,6 +72,14 @@ class CAR(Platforms):
   ]
 )
 
+# Cars with this EPS FW have FSD 14 and use TeslaFlags.FSD_14
+FSD_14_FW = {
+  CAR.TESLA_MODEL_Y: [
+    b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
+    b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
+  ]
+}
+
 
 class CANBUS:
   party = 0
@@ -119,10 +127,12 @@ class CarControllerParams:
 
 class TeslaSafetyFlags(IntFlag):
   LONG_CONTROL = 1
+  FSD_14 = 2
 
 
 class TeslaFlags(IntFlag):
   LONG_CONTROL = 1
+  FSD_14 = 2
 
 
 DBC = CAR.create_dbc_map()
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 627a2e1bfeb..380c64b3af9 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -182,13 +182,14 @@ def update(self, CC, CS, now_nanos):
       # if user engages at a stop with foot on brake, PCM starts in a special cruise standstill mode. on resume press,
       # brakes can take a while to ramp up causing a lurch forward. prevent resume press until planner wants to move.
       # don't use CC.cruiseControl.resume since it is gated on CS.cruiseState.standstill which goes false for 3s after resume press
-      # TODO: hybrids do not have this issue and can stay stopped after resume press, whitelist them
-      should_resume = actuators.accel > 0
-      if should_resume:
-        self.standstill_req = False
-
-      if not should_resume and CS.out.cruiseState.standstill:
-        self.standstill_req = True
+      # whitelist hybrids as they do not have this issue and can stay stopped after resume press
+      if not self.CP.flags & ToyotaFlags.HYBRID.value:
+        should_resume = actuators.accel > 0
+        if should_resume:
+          self.standstill_req = False
+
+        if not should_resume and CS.out.cruiseState.standstill:
+          self.standstill_req = True
 
     self.last_standstill = CS.out.standstill
 
diff --git a/opendbc/safety/modes/tesla.h b/opendbc/safety/modes/tesla.h
index b8f41f0454b..33f5e14ee58 100644
--- a/opendbc/safety/modes/tesla.h
+++ b/opendbc/safety/modes/tesla.h
@@ -3,6 +3,7 @@
 #include "opendbc/safety/declarations.h"
 
 static bool tesla_longitudinal = false;
+static bool tesla_fsd_14 = false;
 static bool tesla_stock_aeb = false;
 
 // Only rising edges while controls are not allowed are considered for these systems:
@@ -91,6 +92,20 @@ static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
   return valid;
 }
 
+static int tesla_get_steer_ctrl_type(const int ctrl_type) {
+  // Returns ANGLE_CONTROL-equivalent control type for FSD 14
+  int steer_ctrl_type = ctrl_type;
+  if (tesla_fsd_14) {
+    if (ctrl_type == 1) {
+      steer_ctrl_type = 2;
+    } else if (ctrl_type == 2) {
+      steer_ctrl_type = 1;
+    } else {
+    }
+  }
+  return steer_ctrl_type;
+}
+
 static void tesla_rx_hook(const CANPacket_t *msg) {
 
   if (msg->bus == 0U) {
@@ -176,7 +191,7 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     // DAS_steeringControl
     if (msg->addr == 0x488U) {
       int steering_control_type = msg->data[2] >> 6;
-      bool tesla_stock_lkas_now = steering_control_type == 2;  // "LANE_KEEP_ASSIST"
+      bool tesla_stock_lkas_now = steering_control_type == tesla_get_steer_ctrl_type(2);  // "LANE_KEEP_ASSIST"
 
       // Only consider rising edges while controls are not allowed
       if (tesla_stock_lkas_now && !tesla_stock_lkas_prev && !controls_allowed) {
@@ -225,14 +240,15 @@ static bool tesla_tx_hook(const CANPacket_t *msg) {
     int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
     int desired_angle = raw_angle_can - 16384;
     int steer_control_type = msg->data[2] >> 6;
-    bool steer_control_enabled = steer_control_type == 1;  // ANGLE_CONTROL
+    const int angle_ctrl_type = tesla_get_steer_ctrl_type(1);
+    bool steer_control_enabled = steer_control_type == angle_ctrl_type;  // ANGLE_CONTROL
 
     if (steer_angle_cmd_checks_vm(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS, TESLA_STEERING_PARAMS)) {
       violation = true;
     }
 
     bool valid_steer_control_type = (steer_control_type == 0) ||  // NONE
-                                    (steer_control_type == 1);    // ANGLE_CONTROL
+                                    (steer_control_type == angle_ctrl_type);    // ANGLE_CONTROL
     if (!valid_steer_control_type) {
       violation = true;
     }
@@ -328,7 +344,9 @@ static safety_config tesla_init(uint16_t param) {
     {0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true},  // APS_eacMonitor
   };
 
-  SAFETY_UNUSED(param);
+  const uint16_t TESLA_FLAG_FSD_14 = 2;
+  tesla_fsd_14 = GET_FLAG(param, TESLA_FLAG_FSD_14);
+
 #ifdef ALLOW_DEBUG
   const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index 52390f81aa8..a6b9265ba50 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -4,7 +4,8 @@
 import numpy as np
 
 from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
-from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.teslacan import get_steer_ctrl_type
+from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags, TeslaFlags
 from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
@@ -26,6 +27,8 @@ def round_angle(apply_angle, can_offset=0):
 
 
 class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
+  SAFETY_PARAM = 0
+
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
   TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]
@@ -69,7 +72,15 @@ def setUp(self):
 
     self.steer_control_types = {d: v for v, d in self.define.dv["DAS_steeringControl"]["DAS_steeringControlType"].items()}
 
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
   def _angle_cmd_msg(self, angle: float, state: bool | int, increment_timer: bool = True, bus: int = 0):
+    # If FSD 14, translate steer control type to new flipped definition
+    if self.safety.get_current_safety_param() & TeslaSafetyFlags.FSD_14:
+      state = get_steer_ctrl_type(TeslaFlags.FSD_14, int(state))
+
     values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": state}
     if increment_timer:
       self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
@@ -358,12 +369,6 @@ class TestTeslaStockSafety(TestTeslaSafetyBase):
 
   LONGITUDINAL = False
 
-  def setUp(self):
-    super().setUp()
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
-    self.safety.init_tests()
-
   def test_cancel(self):
     for acc_state in range(16):
       self.safety.set_controls_allowed(True)
@@ -395,16 +400,16 @@ def test_stock_aeb_no_cancel(self):
     self.assertFalse(self._tx(no_aeb_msg))
 
 
+class TestTeslaFSD14StockSafety(TestTeslaStockSafety):
+  SAFETY_PARAM = TeslaSafetyFlags.FSD_14
+
+
 class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
+  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL
+
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control]}
 
-  def setUp(self):
-    super().setUp()
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, TeslaSafetyFlags.LONG_CONTROL)
-    self.safety.init_tests()
-
   def test_no_aeb(self):
     for aeb_event in range(4):
       self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
@@ -447,5 +452,9 @@ def test_prevent_reverse(self):
     self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))
 
 
+class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
+  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/setup.sh b/setup.sh
index 0234610f89a..4aee2d16de0 100755
--- a/setup.sh
+++ b/setup.sh
@@ -39,7 +39,7 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras
+uv sync --all-extras --inexact
 source "$PYTHONPATH/.venv/bin/activate"
 
 $BASEDIR/opendbc/safety/tests/misra/install.sh

From 3fb0d394e72582479ef7bd32f38fe08a577ee20e Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 18:56:35 -0800
Subject: [PATCH 106/117] Revert "impreza fingerprint"

This reverts commit 692e34c7f8df6540c26eca79799a8eac47f352bc.
---
 opendbc/car/docs_definitions.py     | 23 ++++++++++---------
 opendbc/car/extra_cars.py           | 24 ++++++++++----------
 opendbc/car/subaru/fingerprints.py  |  5 -----
 opendbc/car/tesla/carcontroller.py  |  2 +-
 opendbc/car/tesla/carstate.py       |  7 +-----
 opendbc/car/tesla/fingerprints.py   |  2 --
 opendbc/car/tesla/interface.py      |  9 ++------
 opendbc/car/tesla/teslacan.py       | 19 +++-------------
 opendbc/car/tesla/values.py         | 10 ---------
 opendbc/car/toyota/carcontroller.py | 15 ++++++-------
 opendbc/safety/modes/tesla.h        | 26 ++++-----------------
 opendbc/safety/tests/test_tesla.py  | 35 +++++++++++------------------
 setup.sh                            |  2 +-
 13 files changed, 56 insertions(+), 123 deletions(-)

diff --git a/opendbc/car/docs_definitions.py b/opendbc/car/docs_definitions.py
index c77573930a8..2f49b834f61 100644
--- a/opendbc/car/docs_definitions.py
+++ b/opendbc/car/docs_definitions.py
@@ -78,6 +78,7 @@ class Cable(EnumBase):
   long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
   usb_a_2_a_cable = BasePart("USB A-A cable")
   usbc_otg_cable = BasePart("USB C OTG cable")
+  usbc_coupler = BasePart("USB-C coupler")
   obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
 
 
@@ -111,7 +112,7 @@ class CarHarness(EnumBase):
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
@@ -131,18 +132,18 @@ class CarHarness(EnumBase):
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
+  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
-  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
-  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
 
 
 class Device(EnumBase):
@@ -393,7 +394,7 @@ def get_extra_cars_column(self, column: ExtraCarsColumn) -> str:
 
 @dataclass
 class ExtraCarDocs(CarDocs):
-  package: str = "All"
+  package: str = "Any"
   merged: bool = False
   support_type: SupportType = SupportType.INCOMPATIBLE
   support_link: str | None = "#incompatible"
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
index fed2f5a4914..5ffa42bf4a3 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -37,19 +37,19 @@ class CAR(Platforms):
 
   EXTRA_HONDA = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Acura Integra 2023-25"),
+      CommunityCarDocs("Acura Integra 2023-25", "All"),
       CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
-      CommunityCarDocs("Acura MDX 2017-20"),
-      CommunityCarDocs("Acura MDX 2022-24"),
-      CommunityCarDocs("Acura RDX 2022-25"),
+      CommunityCarDocs("Acura MDX 2017-20", "All"),
+      CommunityCarDocs("Acura MDX 2022-24", "All"),
+      CommunityCarDocs("Acura RDX 2022-25", "All"),
       CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
       CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
-      CommunityCarDocs("Acura TLX 2018-20"),
-      CommunityCarDocs("Acura TLX 2022-23"),
-      GMSecurityCarDocs("Acura ZDX 2024"),
+      CommunityCarDocs("Acura TLX 2018-20", "All"),
+      CommunityCarDocs("Acura TLX 2022-23", "All"),
+      GMSecurityCarDocs("Acura ZDX 2024", "All"),
       CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
-      CommunityCarDocs("Honda Clarity 2018-21"),
-      GMSecurityCarDocs("Honda Prologue 2024-25"),
+      CommunityCarDocs("Honda Clarity 2018-21", "All"),
+      GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
     ],
   )
 
@@ -78,8 +78,8 @@ class CAR(Platforms):
 
   EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
-      FlexRayCarDocs("Audi A4 2016-24"),
-      FlexRayCarDocs("Audi A5 2016-24"),
-      FlexRayCarDocs("Audi Q5 2017-24"),
+      FlexRayCarDocs("Audi A4 2016-24", package="All"),
+      FlexRayCarDocs("Audi A5 2016-24", package="All"),
+      FlexRayCarDocs("Audi Q5 2017-24", package="All"),
     ],
   )
diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 9addabaa1e9..64158446bd3 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -97,7 +97,6 @@
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
       b'\xa2 \x19`\x00',
-      b'\xa2  5\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'z\xc0\x00\x00',
@@ -107,7 +106,6 @@
       b'z\xc0\x0c\x00',
       b'\x8a\xc0\x00\x00',
       b'\x8a\xc0\x10\x00',
-      b'\x9a\xc0\x08\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00c\xf4\x00\x00\x00\x00',
@@ -124,7 +122,6 @@
       b'\x00\x00e\x1c\x1f@ \x14',
       b'\x00\x00e+\x00\x00\x00\x00',
       b'\x00\x00e+\x1f@ \x14',
-      b'\x00\x00eq\x1f@ "',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x00Bu\x07',
@@ -148,7 +145,6 @@
       b'\xc5!as\x07',
       b'\xc5!dr\x07',
       b'\xc5!ds\x07',
-      b'\xca\x01b0\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xd0\x081\x00',
@@ -167,7 +163,6 @@
       b'\xe5\xf5\x04\x00\x00',
       b'\xe5\xf5$\x00\x00',
       b'\xe5\xf5B\x00\x00',
-      b'\xe6\xd5\x041\x00',
     ],
   },
   CAR.SUBARU_IMPREZA_2020: {
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 8b7d9989c44..986897f8494 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -20,7 +20,7 @@ def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_names[Bus.party])
-    self.tesla_can = TeslaCAN(CP, self.packer)
+    self.tesla_can = TeslaCAN(self.packer)
 
     # Vehicle model used for lateral limiting
     self.VM = VehicleModel(get_safety_CP())
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index 2e56a8b033e..fa16116b3b4 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -3,7 +3,6 @@
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.teslacan import get_steer_ctrl_type
 from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -106,11 +105,7 @@ def update(self, can_parsers) -> structs.CarState:
     ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
 
     # LKAS
-    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
-    # FSD switched from using ANGLE_CONTROL to LANE_KEEP_ASSIST to likely keep the old steering override disengage logic.
-    # LKAS switched from LANE_KEEP_ASSIST to ANGLE_CONTROL to likely allow overriding LKAS events smoothly
-    lkas_ctrl_type = get_steer_ctrl_type(self.CP.flags, 2)
-    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2  # LANE_KEEP_ASSIST
 
     # Stock Autosteer should be off (includes FSD)
     if self.CP.carFingerprint in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y):
diff --git a/opendbc/car/tesla/fingerprints.py b/opendbc/car/tesla/fingerprints.py
index 2ebaef0b8fb..54705385a6e 100644
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -36,8 +36,6 @@
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
       b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
-      b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
-      b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
     ],
   },
   CAR.TESLA_MODEL_X: {
diff --git a/opendbc/car/tesla/interface.py b/opendbc/car/tesla/interface.py
index c53ad621937..baf1593238a 100644
--- a/opendbc/car/tesla/interface.py
+++ b/opendbc/car/tesla/interface.py
@@ -2,7 +2,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CAR, FSD_14_FW, Ecu
+from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
 
 
 class CarInterface(CarInterfaceBase):
@@ -31,11 +31,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.vEgoStarting = 0.1
       ret.stoppingDecelRate = 0.3
 
-    fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
-    if fsd_14:
-      ret.flags |= TeslaFlags.FSD_14.value
-      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.FSD_14.value
-
-    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal
+    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X) # dashcam only, pending find invalidLkasSetting signal
 
     return ret
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index 7449b961f17..4bfc67a4e36 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -1,29 +1,16 @@
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags
-
-
-def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
-  # Returns the flipped signal value for DAS_steeringControlType on FSD 14
-  if flags & TeslaFlags.FSD_14:
-    return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
-  else:
-    return ctrl_type
+from opendbc.car.tesla.values import CANBUS, CarControllerParams
 
 
 class TeslaCAN:
-  def __init__(self, CP, packer):
-    self.CP = CP
+  def __init__(self, packer):
     self.packer = packer
 
   def create_steering_control(self, angle, enabled):
-    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
-    # with openpilot, after overriding w/ ANGLE_CONTROL the wheel snaps back to the original angle abruptly
-    # so we now use LANE_KEEP_ASSIST to match stock FSD.
-    # see carstate.py for more details
     values = {
       "DAS_steeringAngleRequest": -angle,
       "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": get_steer_ctrl_type(self.CP.flags, 1 if enabled else 0),
+      "DAS_steeringControlType": 1 if enabled else 0,
     }
 
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
diff --git a/opendbc/car/tesla/values.py b/opendbc/car/tesla/values.py
index 92a08d2a87f..6fedfaac027 100644
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -72,14 +72,6 @@ class CAR(Platforms):
   ]
 )
 
-# Cars with this EPS FW have FSD 14 and use TeslaFlags.FSD_14
-FSD_14_FW = {
-  CAR.TESLA_MODEL_Y: [
-    b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
-    b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
-  ]
-}
-
 
 class CANBUS:
   party = 0
@@ -127,12 +119,10 @@ class CarControllerParams:
 
 class TeslaSafetyFlags(IntFlag):
   LONG_CONTROL = 1
-  FSD_14 = 2
 
 
 class TeslaFlags(IntFlag):
   LONG_CONTROL = 1
-  FSD_14 = 2
 
 
 DBC = CAR.create_dbc_map()
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 380c64b3af9..627a2e1bfeb 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -182,14 +182,13 @@ def update(self, CC, CS, now_nanos):
       # if user engages at a stop with foot on brake, PCM starts in a special cruise standstill mode. on resume press,
       # brakes can take a while to ramp up causing a lurch forward. prevent resume press until planner wants to move.
       # don't use CC.cruiseControl.resume since it is gated on CS.cruiseState.standstill which goes false for 3s after resume press
-      # whitelist hybrids as they do not have this issue and can stay stopped after resume press
-      if not self.CP.flags & ToyotaFlags.HYBRID.value:
-        should_resume = actuators.accel > 0
-        if should_resume:
-          self.standstill_req = False
-
-        if not should_resume and CS.out.cruiseState.standstill:
-          self.standstill_req = True
+      # TODO: hybrids do not have this issue and can stay stopped after resume press, whitelist them
+      should_resume = actuators.accel > 0
+      if should_resume:
+        self.standstill_req = False
+
+      if not should_resume and CS.out.cruiseState.standstill:
+        self.standstill_req = True
 
     self.last_standstill = CS.out.standstill
 
diff --git a/opendbc/safety/modes/tesla.h b/opendbc/safety/modes/tesla.h
index 33f5e14ee58..b8f41f0454b 100644
--- a/opendbc/safety/modes/tesla.h
+++ b/opendbc/safety/modes/tesla.h
@@ -3,7 +3,6 @@
 #include "opendbc/safety/declarations.h"
 
 static bool tesla_longitudinal = false;
-static bool tesla_fsd_14 = false;
 static bool tesla_stock_aeb = false;
 
 // Only rising edges while controls are not allowed are considered for these systems:
@@ -92,20 +91,6 @@ static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
   return valid;
 }
 
-static int tesla_get_steer_ctrl_type(const int ctrl_type) {
-  // Returns ANGLE_CONTROL-equivalent control type for FSD 14
-  int steer_ctrl_type = ctrl_type;
-  if (tesla_fsd_14) {
-    if (ctrl_type == 1) {
-      steer_ctrl_type = 2;
-    } else if (ctrl_type == 2) {
-      steer_ctrl_type = 1;
-    } else {
-    }
-  }
-  return steer_ctrl_type;
-}
-
 static void tesla_rx_hook(const CANPacket_t *msg) {
 
   if (msg->bus == 0U) {
@@ -191,7 +176,7 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     // DAS_steeringControl
     if (msg->addr == 0x488U) {
       int steering_control_type = msg->data[2] >> 6;
-      bool tesla_stock_lkas_now = steering_control_type == tesla_get_steer_ctrl_type(2);  // "LANE_KEEP_ASSIST"
+      bool tesla_stock_lkas_now = steering_control_type == 2;  // "LANE_KEEP_ASSIST"
 
       // Only consider rising edges while controls are not allowed
       if (tesla_stock_lkas_now && !tesla_stock_lkas_prev && !controls_allowed) {
@@ -240,15 +225,14 @@ static bool tesla_tx_hook(const CANPacket_t *msg) {
     int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
     int desired_angle = raw_angle_can - 16384;
     int steer_control_type = msg->data[2] >> 6;
-    const int angle_ctrl_type = tesla_get_steer_ctrl_type(1);
-    bool steer_control_enabled = steer_control_type == angle_ctrl_type;  // ANGLE_CONTROL
+    bool steer_control_enabled = steer_control_type == 1;  // ANGLE_CONTROL
 
     if (steer_angle_cmd_checks_vm(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS, TESLA_STEERING_PARAMS)) {
       violation = true;
     }
 
     bool valid_steer_control_type = (steer_control_type == 0) ||  // NONE
-                                    (steer_control_type == angle_ctrl_type);    // ANGLE_CONTROL
+                                    (steer_control_type == 1);    // ANGLE_CONTROL
     if (!valid_steer_control_type) {
       violation = true;
     }
@@ -344,9 +328,7 @@ static safety_config tesla_init(uint16_t param) {
     {0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true},  // APS_eacMonitor
   };
 
-  const uint16_t TESLA_FLAG_FSD_14 = 2;
-  tesla_fsd_14 = GET_FLAG(param, TESLA_FLAG_FSD_14);
-
+  SAFETY_UNUSED(param);
 #ifdef ALLOW_DEBUG
   const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index a6b9265ba50..52390f81aa8 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -4,8 +4,7 @@
 import numpy as np
 
 from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
-from opendbc.car.tesla.teslacan import get_steer_ctrl_type
-from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags, TeslaFlags
+from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags
 from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
@@ -27,8 +26,6 @@ def round_angle(apply_angle, can_offset=0):
 
 
 class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
-  SAFETY_PARAM = 0
-
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
   TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]
@@ -72,15 +69,7 @@ def setUp(self):
 
     self.steer_control_types = {d: v for v, d in self.define.dv["DAS_steeringControl"]["DAS_steeringControlType"].items()}
 
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
-    self.safety.init_tests()
-
   def _angle_cmd_msg(self, angle: float, state: bool | int, increment_timer: bool = True, bus: int = 0):
-    # If FSD 14, translate steer control type to new flipped definition
-    if self.safety.get_current_safety_param() & TeslaSafetyFlags.FSD_14:
-      state = get_steer_ctrl_type(TeslaFlags.FSD_14, int(state))
-
     values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": state}
     if increment_timer:
       self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
@@ -369,6 +358,12 @@ class TestTeslaStockSafety(TestTeslaSafetyBase):
 
   LONGITUDINAL = False
 
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
+    self.safety.init_tests()
+
   def test_cancel(self):
     for acc_state in range(16):
       self.safety.set_controls_allowed(True)
@@ -400,16 +395,16 @@ def test_stock_aeb_no_cancel(self):
     self.assertFalse(self._tx(no_aeb_msg))
 
 
-class TestTeslaFSD14StockSafety(TestTeslaStockSafety):
-  SAFETY_PARAM = TeslaSafetyFlags.FSD_14
-
-
 class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
-  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL
-
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control]}
 
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, TeslaSafetyFlags.LONG_CONTROL)
+    self.safety.init_tests()
+
   def test_no_aeb(self):
     for aeb_event in range(4):
       self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
@@ -452,9 +447,5 @@ def test_prevent_reverse(self):
     self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))
 
 
-class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
-  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/setup.sh b/setup.sh
index 4aee2d16de0..0234610f89a 100755
--- a/setup.sh
+++ b/setup.sh
@@ -39,7 +39,7 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras --inexact
+uv sync --all-extras
 source "$PYTHONPATH/.venv/bin/activate"
 
 $BASEDIR/opendbc/safety/tests/misra/install.sh

From 8cef72d54e0ace5bf54083f61de94daf7a7ebf8d Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 6 Jan 2026 20:30:30 -0800
Subject: [PATCH 107/117] apply tesla brake PR

---
 opendbc/car/tesla/carstate.py      |  2 +-
 opendbc/safety/modes/tesla.h       | 20 ++++++++++----------
 opendbc/safety/tests/test_tesla.py |  6 +++---
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index fa16116b3b4..fa51cd9e66c 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -44,7 +44,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     # Brake pedal
     ret.brake = 0
-    ret.brakePressed = cp_party.vl["IBST_status"]["IBST_driverBrakeApply"] == 2
+    ret.brakePressed = cp_party.vl["ESP_status"]["ESP_driverBrakeApply"] == 2
 
     # Steering wheel
     epas_status = cp_party.vl["EPAS3S_sysStatus"]
diff --git a/opendbc/safety/modes/tesla.h b/opendbc/safety/modes/tesla.h
index b8f41f0454b..481270077a7 100644
--- a/opendbc/safety/modes/tesla.h
+++ b/opendbc/safety/modes/tesla.h
@@ -23,8 +23,8 @@ static uint8_t tesla_get_counter(const CANPacket_t *msg) {
   } else if (msg->addr == 0x488U) {
     // Signal: DAS_steeringControlCounter
     cnt = msg->data[2] & 0x0FU;
-  } else if ((msg->addr == 0x257U) || (msg->addr == 0x118U) || (msg->addr == 0x39dU) || (msg->addr == 0x286U) || (msg->addr == 0x311U)) {
-    // Signal: DI_speedCounter, DI_systemStatusCounter, IBST_statusCounter, DI_locStatusCounter, UI_warningCounter
+  } else if ((msg->addr == 0x257U) || (msg->addr == 0x118U) || (msg->addr == 0x145U) || (msg->addr == 0x286U) || (msg->addr == 0x311U)) {
+    // Signal: DI_speedCounter, DI_systemStatusCounter, ESP_statusCounter, DI_locStatusCounter, UI_warningCounter
     cnt = msg->data[1] & 0x0FU;
   } else if (msg->addr == 0x155U) {
     // Signal: ESP_wheelRotationCounter
@@ -45,8 +45,8 @@ static int _tesla_get_checksum_byte(const int addr) {
   } else if (addr == 0x488) {
     // Signal: DAS_steeringControlChecksum
     checksum_byte = 3;
-  } else if ((addr == 0x257) || (addr == 0x118) || (addr == 0x39d) || (addr == 0x286) || (addr == 0x311)) {
-    // Signal: DI_speedChecksum, DI_systemStatusChecksum, IBST_statusChecksum, DI_locStatusChecksum, UI_warningChecksum
+  } else if ((addr == 0x257) || (addr == 0x118) || (addr == 0x145) || (addr == 0x286) || (addr == 0x311)) {
+    // Signal: DI_speedChecksum, DI_systemStatusChecksum, ESP_statusChecksum, DI_locStatusChecksum, UI_warningChecksum
     checksum_byte = 0;
   } else {
   }
@@ -83,9 +83,9 @@ static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
   bool valid = false;
   if (msg->addr == 0x155U) {
     valid = (msg->data[5] & 0x1U) == 0x1U;  // ESP_wheelSpeedsQF
-  } else if (msg->addr == 0x39dU) {
-    int user_brake_status = msg->data[2] & 0x03U;
-    valid = (user_brake_status != 0) && (user_brake_status != 3);  // IBST_driverBrakeApply=NOT_INIT_OR_OFF, FAULT
+  } else if (msg->addr == 0x145U) {
+    int user_brake_status = (msg->data[3] >> 5) & 0x03U;
+    valid = (user_brake_status != 0) && (user_brake_status != 3);  // ESP_driverBrakeApply=NotInit_orOff, Faulty_SNA
   } else {
   }
   return valid;
@@ -128,8 +128,8 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     }
 
     // Brake pressed
-    if (msg->addr == 0x39dU) {
-      brake_pressed = (msg->data[2] & 0x03U) == 2U;
+    if (msg->addr == 0x145U) {
+      brake_pressed = ((msg->data[3] >> 5) & 0x03U) == 2U;
     }
 
     // Cruise and Autopark/Summon state
@@ -349,7 +349,7 @@ static safety_config tesla_init(uint16_t param) {
     {.msg = {{0x155, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},                                // ESP_B (2nd speed in kph)
     {.msg = {{0x370, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // EPAS3S_sysStatus (steering angle)
     {.msg = {{0x118, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DI_systemStatus (gas pedal)
-    {.msg = {{0x39d, 0, 5, 25U, .max_counter = 15U}, { 0 }, { 0 }}},                                // IBST_status (brakes)
+    {.msg = {{0x145, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},                                // ESP_status (brakes)
     {.msg = {{0x286, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DI_state (acc state)
     {.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // UI_warning (blinkers, buckle switch & doors)
   };
diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index 52390f81aa8..518b594d05d 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -84,10 +84,10 @@ def _angle_meas_msg(self, angle: float, hands_on_level: int = 0, eac_status: int
     return self.packer.make_can_msg_safety("EPAS3S_sysStatus", 0, values)
 
   def _user_brake_msg(self, brake, quality_flag: bool = True):
-    values = {"IBST_driverBrakeApply": 2 if brake else 1}
+    values = {"ESP_driverBrakeApply": 2 if brake else 1}
     if not quality_flag:
-      values["IBST_driverBrakeApply"] = random.choice((0, 3))  # NOT_INIT_OR_OFF, FAULT
-    return self.packer.make_can_msg_safety("IBST_status", 0, values)
+      values["ESP_driverBrakeApply"] = random.choice((0, 3))  # NotInit_orOff, Faulty_SNA
+    return self.packer.make_can_msg_safety("ESP_status", 0, values)
 
   def _speed_msg(self, speed):
     values = {"DI_vehicleSpeed": speed * 3.6}

From 91c4a5d3c896cf0936c5cf00a484127b9665d21c Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 19:29:09 -0800
Subject: [PATCH 108/117] honda clear startup fault

---
 opendbc/car/honda/carstate.py         | 17 ++++++++++++++++-
 opendbc/car/honda/fingerprints.py     |  8 ++++++++
 opendbc/car/honda/interface.py        |  5 +++++
 opendbc/car/honda/values.py           |  5 +++++
 opendbc/car/tests/routes.py           |  1 +
 opendbc/car/torque_data/override.toml |  1 +
 6 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 334491968fe..69539d456a4 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -2,7 +2,7 @@
 from collections import defaultdict
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, create_button_events, structs
+from opendbc.car import Bus, create_button_events, structs, DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
@@ -49,6 +49,9 @@ def __init__(self, CP):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
+    self.initial_accFault_cleared = False
+    self.initial_accFault_cleared_timer = int(10 / DT_CTRL) # 10 seconds after startup for initial faults to clear
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -187,6 +190,18 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
 
+    # Bosch cars take a few minutes after startup to clear prior faults
+    if ret.accFaulted:
+      if (self.CP.carFingerprint in HONDA_BOSCH) and not self.initial_accFault_cleared:
+        # block via cruiseState since accFaulted is not reversible until offroad
+        ret.accFaulted = False
+        ret.cruiseState.available = False
+    elif self.initial_accFault_cleared_timer == 0:
+      self.initial_accFault_cleared = True
+
+    if self.initial_accFault_cleared_timer > 0:
+      self.initial_accFault_cleared_timer -= 1
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:
diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 9b5b68992e2..3eb54045f78 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -1067,4 +1067,12 @@
       b'36161-TGV-A030\x00\x00',
     ],
   },
+  CAR.ACURA_TLX_2G_MMR: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-TGV-A030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-TGV-A030\x00\x00',
+    ],
+  },
 }
diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 59e300c4f07..18fd2fbc8c4 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -191,6 +191,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
+    elif candidate == CAR.ACURA_TLX_2G_MMR:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     else:
       ret.steerActuatorDelay = 0.15
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 3cdccc1eb24..01362b31acc 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -277,6 +277,11 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
     flags=HondaFlags.BOSCH_ALT_RADAR,
   )
+  # mid-model refresh
+  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Acura TLX 2025", "All")],
+    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=14.2),
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 3fef40ef93a..51a08629db2 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -127,6 +127,7 @@ class CarTestRoute(NamedTuple):
   # CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G),  # Brazilian model
   CarTestRoute("2dc4489d7e1410ca/00000001--bbec3f5117", HONDA.HONDA_CRV_6G),
   CarTestRoute("a703d058f4e05aeb/00000008--f169423024", HONDA.HONDA_PASSPORT_4G),
+  CarTestRoute("ad9840558640c31d/000001e3--597b055ad7", HONDA.ACURA_TLX_2G_MMR),
 
   CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index 69cc6048d66..f55889e5291 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -91,6 +91,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
+"ACURA_TLX_2G_MMR" = [1.6, 1.6, 0.14]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 
 # Dashcam or fallback configured as ideal car

From 661513eecd75fa9311884f2f23c67e6d386587a0 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Fri, 16 Jan 2026 19:30:31 -0800
Subject: [PATCH 109/117] Revert "honda clear startup fault"

This reverts commit 91c4a5d3c896cf0936c5cf00a484127b9665d21c.
---
 opendbc/car/honda/carstate.py         | 17 +----------------
 opendbc/car/honda/fingerprints.py     |  8 --------
 opendbc/car/honda/interface.py        |  5 -----
 opendbc/car/honda/values.py           |  5 -----
 opendbc/car/tests/routes.py           |  1 -
 opendbc/car/torque_data/override.toml |  1 -
 6 files changed, 1 insertion(+), 36 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 69539d456a4..334491968fe 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -2,7 +2,7 @@
 from collections import defaultdict
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, create_button_events, structs, DT_CTRL
+from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
@@ -49,9 +49,6 @@ def __init__(self, CP):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-    self.initial_accFault_cleared = False
-    self.initial_accFault_cleared_timer = int(10 / DT_CTRL) # 10 seconds after startup for initial faults to clear
-
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -190,18 +187,6 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
 
-    # Bosch cars take a few minutes after startup to clear prior faults
-    if ret.accFaulted:
-      if (self.CP.carFingerprint in HONDA_BOSCH) and not self.initial_accFault_cleared:
-        # block via cruiseState since accFaulted is not reversible until offroad
-        ret.accFaulted = False
-        ret.cruiseState.available = False
-    elif self.initial_accFault_cleared_timer == 0:
-      self.initial_accFault_cleared = True
-
-    if self.initial_accFault_cleared_timer > 0:
-      self.initial_accFault_cleared_timer -= 1
-
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:
diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 3eb54045f78..9b5b68992e2 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -1067,12 +1067,4 @@
       b'36161-TGV-A030\x00\x00',
     ],
   },
-  CAR.ACURA_TLX_2G_MMR: {
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'8S302-TGV-A030\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'8S102-TGV-A030\x00\x00',
-    ],
-  },
 }
diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 18fd2fbc8c4..59e300c4f07 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -191,11 +191,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
-    elif candidate == CAR.ACURA_TLX_2G_MMR:
-      ret.steerActuatorDelay = 0.15
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
     else:
       ret.steerActuatorDelay = 0.15
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 01362b31acc..3cdccc1eb24 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -277,11 +277,6 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
     flags=HondaFlags.BOSCH_ALT_RADAR,
   )
-  # mid-model refresh
-  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
-    [HondaCarDocs("Acura TLX 2025", "All")],
-    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=14.2),
-  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 51a08629db2..3fef40ef93a 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -127,7 +127,6 @@ class CarTestRoute(NamedTuple):
   # CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G),  # Brazilian model
   CarTestRoute("2dc4489d7e1410ca/00000001--bbec3f5117", HONDA.HONDA_CRV_6G),
   CarTestRoute("a703d058f4e05aeb/00000008--f169423024", HONDA.HONDA_PASSPORT_4G),
-  CarTestRoute("ad9840558640c31d/000001e3--597b055ad7", HONDA.ACURA_TLX_2G_MMR),
 
   CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index f55889e5291..69cc6048d66 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -91,7 +91,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
-"ACURA_TLX_2G_MMR" = [1.6, 1.6, 0.14]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 
 # Dashcam or fallback configured as ideal car

From c72f64a4897644de83cdb8ca797d76e640ce267b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Sun, 18 Jan 2026 14:30:06 -0800
Subject: [PATCH 110/117] skip unrelated edges

---
 opendbc/car/tests/car_diff.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index a3581cf95f0..904dc1f1315 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -221,11 +221,13 @@ def format_boolean_diffs(diffs):
   lines = []
   for group in group_frames(diffs):
     master_vals, pr_vals, init, start, end = build_signals(group)
+    master_rises, master_falls = find_edges(master_vals, init)
+    pr_rises, pr_falls = find_edges(pr_vals, init)
+    if bool(master_rises) != bool(pr_rises):
+      continue
     lines.append(f"\n  frames {start}-{end - 1}")
     lines.append(render_waveform("master", master_vals, init))
     lines.append(render_waveform("PR", pr_vals, init))
-    master_rises, master_falls = find_edges(master_vals, init)
-    pr_rises, pr_falls = find_edges(pr_vals, init)
     for edge_type, master_edges, pr_edges in [("rise", master_rises, pr_rises), ("fall", master_falls, pr_falls)]:
       msg = format_timing(edge_type, master_edges, pr_edges, ms)
       if msg:

From 5366516c0b21004c334a787a80ed0fdd2abd0b75 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Sun, 18 Jan 2026 18:12:24 -0800
Subject: [PATCH 111/117] fix exit

---
 .github/workflows/tests.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f86d77e14df..b1d0691dcec 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -76,7 +76,12 @@ jobs:
         scons -j8
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
+      run: |
+        source setup.sh
+        ret=0
+        python opendbc/car/tests/car_diff.py > diff.txt || ret=$?
+        cat diff.txt
+        exit $ret
     - name: Comment PR
       if: github.event_name == 'pull_request'
       env:

From 2ba7e6c045fad1b389c9ee9a6cf29a49649494bb Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Sun, 18 Jan 2026 19:45:22 -0800
Subject: [PATCH 112/117] fix down edge

---
 opendbc/car/tests/car_diff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 904dc1f1315..7938b06949b 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -223,7 +223,7 @@ def format_boolean_diffs(diffs):
     master_vals, pr_vals, init, start, end = build_signals(group)
     master_rises, master_falls = find_edges(master_vals, init)
     pr_rises, pr_falls = find_edges(pr_vals, init)
-    if bool(master_rises) != bool(pr_rises):
+    if bool(master_rises) != bool(pr_rises) or bool(master_falls) != bool(pr_falls):
       continue
     lines.append(f"\n  frames {start}-{end - 1}")
     lines.append(render_waveform("master", master_vals, init))

From 5643d25aa4dcdf7c2f6a739f0d45322470634223 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Sun, 18 Jan 2026 19:45:40 -0800
Subject: [PATCH 113/117] use hf pip package

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 666f1b3f362..d0d3cd27065 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,7 +20,7 @@ dependencies = [
 
 [project.optional-dependencies]
 testing = [
-  "comma-car-segments-test @ https://test-files.pythonhosted.org/packages/13/58/1a458fb78d2f9fde9f57b26ad7e0a86b9f2371d33436ef0df9512a5ba8b2/comma_car_segments_test-0.1.0-py3-none-any.whl",
+  "comma-car-segments @ https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl",
   "cffi",
   "gcovr",
   # FIXME: pytest 9.0.0 doesn't support unittest.SkipTest

From 05da4f6dc870e0b5312ea417f103641376a5e249 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 19 Jan 2026 00:38:33 -0800
Subject: [PATCH 114/117] comment on fail

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index b1d0691dcec..5df63972c19 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -83,7 +83,7 @@ jobs:
         cat diff.txt
         exit $ret
     - name: Comment PR
-      if: github.event_name == 'pull_request'
+      if: ${{ !cancelled() && github.event_name == 'pull_request' }}
       env:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'

From 49dfefbbb9d0989b186ecfa72879e11da82c8740 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 19 Jan 2026 01:00:45 -0800
Subject: [PATCH 115/117] fix

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 5df63972c19..172cf960315 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -83,7 +83,7 @@ jobs:
         cat diff.txt
         exit $ret
     - name: Comment PR
-      if: ${{ !cancelled() && github.event_name == 'pull_request' }}
+      if: always() && github.event_name == 'pull_request'
       env:
         GH_TOKEN: ${{ github.token }}
       run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'

From 2135514a7bf6df3805232cefb0e91bea999de52b Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 19 Jan 2026 01:14:11 -0800
Subject: [PATCH 116/117] comment

---
 opendbc/car/tests/car_diff.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index 7938b06949b..a335744d556 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -131,6 +131,7 @@ def run_replay(platforms, segments, ref_path, update, workers=4):
     return list(pool.map(process_segment, work))
 
 
+# ASCII waveforms helpers
 def find_edges(vals, init):
   rises = []
   falls = []

From 939af7567d7c645c3a0c01d7fe282c88704ceac8 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Mon, 19 Jan 2026 13:39:40 -0800
Subject: [PATCH 117/117] no exit 1 in CI

---
 .github/workflows/tests.yml   | 7 +------
 opendbc/car/tests/car_diff.py | 5 +----
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 172cf960315..5ebeceed5d2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -76,12 +76,7 @@ jobs:
         scons -j8
     - name: Test car diff
       if: github.event_name == 'pull_request'
-      run: |
-        source setup.sh
-        ret=0
-        python opendbc/car/tests/car_diff.py > diff.txt || ret=$?
-        cat diff.txt
-        exit $ret
+      run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
     - name: Comment PR
       if: always() && github.event_name == 'pull_request'
       env:
diff --git a/opendbc/car/tests/car_diff.py b/opendbc/car/tests/car_diff.py
index a335744d556..a75b8f95dff 100644
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -1,8 +1,5 @@
-#!/usr/bin/env python3
-import os
-os.environ['LOGPRINT'] = 'CRITICAL'
-
 import argparse
+import os
 import pickle
 import re
 import subprocess