IQ.Pilot Release Commit @ 9fe0487

artifacts/iqpilot_hephaestusd_private/manifest.json

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+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "Uxa3OMIwXvFEYz1LP+UDWB1sVhi4z8yC9bP+Xypzw26LNRAMkJZta2r+drXGPEe1TFg4zgVWrb9Q1+Y3pA9HAQ=="
   }
 }

artifacts/iqpilot_navd_private/manifest.json

@@ -6,7 +6,7 @@
   },
   "python/iqpilot_private/navd/__init__.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "8b6114f67eb7a83d47e90113a0e75801ffd55d6c732d1db9a6af620f3cfba1d8",
+    "sha256": "449495db52a85f8d0b0e2bb3128ee480598f8bdb5a44ec13153877fe8b372a91",
     "size": 67616
   },
   "python/iqpilot_private/navd/__init__.py": {
@@ -16,72 +16,72 @@
   },
   "python/iqpilot_private/navd/event_builder.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "4ebabfe3b85a380441cb22730ea3779c3c477e7ec40a88d0ba4d8130a2827877",
+    "sha256": "ae2b25f52f7c7b02f3c977bbf46f5e9e938bfeda78bdb60f2f897eb04d698e43",
     "size": 136944
   },
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     "mode": 493,
-    "sha256": "7506530560907e8a39e54c05c988c5be3b86bbdaa5279059ada9d847d1e2889c",
+    "sha256": "f6ad0590f2a0bdbed56e7126203df2f6cdad86074f76ab9dded38b9e1600c8af",
     "size": 135936
   },
   "python/iqpilot_private/navd/iqmapd.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "905391fcf31991b315abe6126797bc870066352596cd2e9574b289a9c0f386be",
+    "sha256": "b4ed48cada1dfb3383ff8ee106a7d93967bf65115d4c528b60dc3d73112a2f0e",
     "size": 135608
   },
   "python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "33f91bfad8894347729d4fd072e8a81af766240e5ec8921de0f92230e3d5faf1",
+    "sha256": "e68aca6829cb00c5eda5330e1dfedd6269381ea5831abaca1055adf6df1f53ff",
     "size": 69728
   },
   "python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "4572bb1d704de4b9919d4e81e7c28d64197dadbdd8d84f4f1a203ad924d000f6",
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     "size": 68088
   },
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     "mode": 493,
-    "sha256": "5087cd98a1bf042e0f3d19021af43a0d12ae0ce3f502158a0f4d3a0ace2bbabe",
+    "sha256": "6e69c5fcac3c302e401b3ed3735b42f3de4af4e0d188d15a7add7aa02920f4c5",
     "size": 135440
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     "mode": 493,
-    "sha256": "f26cb01eaad63b14c686932496a62a3ec5aef1ebb4f36fb46680c124c77e0e16",
+    "sha256": "55c88f8c5996dd7094c0feaf454fe0f1aec97276aed8926d7e8f6d1597de5a83",
-    "size": 664448
+    "size": 664480
   },
   "python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "3e4a79640333390203e50fb226b00b72aa97a78637544e0f616ed54547c40489",
+    "sha256": "b971e1093f5713a633636d6ee74891206a2d5abfb492406c7ae5df7a66bdc0d9",
     "size": 135560
   },
   "python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "cc7040441e8ce97be6ba7bdb371761e7f14c3caf99ab15bf343635a69f4e0fb1",
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     "size": 136368
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     "mode": 493,
-    "sha256": "2b9357dd886231d18e4a9b180b91ea2747f5fa23d91d2d349e032286ea330db2",
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     "size": 136072
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     "mode": 493,
-    "sha256": "3a85759d30234271a83a9473d6d18af74d672c892f686b5d082e9b6df1b70159",
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     "size": 600528
   },
   "python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "2423bca9e7637997d1b6a86365cbc9e9a7d47c89f96aa21be4de32a898ad795c",
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     "size": 135752
   },
   "python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "12b333b4c8904483cae4bae1346016b24b9bee0866d332b2b61dc9fbc30a14b7",
+    "sha256": "aea71be79c99884a0aeaaf8e5c0f70e37bb4f0c0123025cd07df830189774ba9",
     "size": 69832
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   "python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "3954330e8004abad9dd31f3a02b57306dc7e83e73ee0ba4072b1b4ecc7f88dfc",
+    "sha256": "5c7dd6ef7dafb9a35662ee3d22c08b17b02807df736bf146af88cb260f5bbf09",
     "size": 201384
   },
   "runtime": {
@@ -105,20 +105,20 @@
     }
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+    "python/iqpilot_private/navd/__init__.cpython-312-aarch64-linux-gnu.so": "E3+Gd+btNi+4qFqM+nFMfWgCLJhP21ZgIwZrE/CJjqafB1htd/qOhh9QtrulS46HW5geZ/nwW3jlxPbFeNubBw==",
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+    "python/iqpilot_private/navd/event_builder.cpython-312-aarch64-linux-gnu.so": "hHQQCCPcxRXdO9vko9476AYbgbfNwhi9bVYpoOzQQStPC8DbIO0QN/RRzaJVGr2kgJGZlXDmnGl85m7EHgC1BA==",
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+    "python/iqpilot_private/navd/helpers.cpython-312-aarch64-linux-gnu.so": "Wz5yfWlMeoASj274KqrCWwEJD/wtm5WyxLenceYu7MkXaMlN1QyztvJhq8Y8K8Jfis7R5fQ/aAnlsQgWTIVEBg==",
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+    "python/iqpilot_private/navd/iqmapd.cpython-312-aarch64-linux-gnu.so": "6WFWUXmkyy21rh/9xa7s7S7CTiCRnywOahU859T6iP0447NkVxHRYmXAVCH1/vRDPXASHRNPyUk8oSDLIGK1Ag==",
-    "python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "6kFnnmSPQPXe1HuiBL14HrPx5cr2XmOYzTcESKHvt7DAL7M5tMKy0BWufo34F/LH4MYXQu1/k5TyzHt4wQ7jBw==",
+    "python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "ZUsjQ/AGPa5pVKAv3IkycDPIVBWh+4jBNor/xrUi7BBPHki8G6T1grv3exeHhr2WF2JiqN727ge3JaqvlU1KDQ==",
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+    "python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": "t+VHmWhxf7oKcR5e+tJe6hPKy6xz0bMY84WEhujwcwBlWgIXscfc9aNSP6e4N7GITW7cOn+RlDRTTfwQsA6PDA==",
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+    "python/iqpilot_private/navd/nav_cameras.cpython-312-aarch64-linux-gnu.so": "qOrpSi2I+aFLKN4WjBljfzbk2U1rvOgDuyV+p7IvshugeUOoqTKiYYSG9xwyi2/eB/syyfiVFoqAg+ETFXXPDA==",
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+    "python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": "gp1noPJ35MRVcQL3t4wKbsEH0L0+n9Yf8Zty+VCY7uy9EsK8211kW2YIw7Lcyw879VLLbVntHIWz/BMankSeAw==",
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+    "python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": "N6yH0R8V/Cw1J3hYPfFeZXByolRwtACwNe2wHMzPEQ69UTWnSNFRXWjOLCEvtwB8Z+iglAqFx8uztZ6wXZKUCQ==",
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+    "python/iqpilot_private/navd/reroute.cpython-312-aarch64-linux-gnu.so": "oQQU70Yp8wzkqB9Ktm2KDEHNVZfB3otqIoG2mkqQNh6QdtVKXraIv6cAbt2Zjob5914C06El2z+NPZQE5NjODQ==",
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+    "python/iqpilot_private/navd/route_manager.cpython-312-aarch64-linux-gnu.so": "ayPdxCUGA/o+AavLMd9mGDY6zYnZk54gAEVaMQXFYlztjXiREC+IEmV1iETOYcsEFAxr8qtUFfcwZ3p7rXljCw==",
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+    "python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": "Rh0wUjYjRabedjFSnsE9BAjILjA1+RHMdfuCqTye1AlhFlXVUQMRo6Ier6Z71kyiOYw+CXCOrHUF9fP69cP4DQ==",
-    "python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "cmYohrfIfttybS+9x+b9DFzgxyaDGNtgr+olaMWUZ7ytgenB+EvwKAXJHmicFtvBTsKOxYzywKR2zLb71DDFDg==",
+    "python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "13bqig90oceup9ovo8weu9UpdQN/l/pq7REFm8dwwgqquuh8jJFkzNz7dvIhDlaxIGAQwzWJe4+QzIQfhg0jAA==",
-    "python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "laxlmUb7INupC/eu6k/eok3bXW4c5H7Lui5MDJXLCoSFCiutla374A6rN8Dh+g3AcSY2NfLBzrnyqQDqQH0KBw=="
+    "python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "Vm1Inx4XY0BOmLuNizOCRNAl4tPDcvJ/4A+TwVSr1cZuMg7pg1jeFg613e6cFM6t08hYvPsysXc2+gD69zkcBA=="
   }
 }

cereal/custom.capnp

@@ -242,8 +242,8 @@ struct IQPlan @0xda401323ae805f2b {
   }
 
   struct E2eAlerts {
-    greenLightAlert @0 :Bool;
+    pathOpen @0 :Bool;
-    leadDepartAlert @1 :Bool;
+    leadPullaway @1 :Bool;
   }
 }
 

common/params_keys.h

@@ -171,12 +171,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DeviceBootMode", {PERSISTENT, INT, "0"}},
     {"IQDevUIInfo", {PERSISTENT, INT, "0"}},
     {"EnableEsimProvisioning", {PERSISTENT, BOOL, "1"}},
-    {"GreenLightAlert", {PERSISTENT, BOOL, "0"}},
+    {"EndToEndAlert", {PERSISTENT, BOOL, "0"}},
     {"InteractivityTimeout", {PERSISTENT, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsReleaseIqBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionIQLoc", {PERSISTENT, STRING}},
-    {"LeadDepartAlert", {PERSISTENT, BOOL, "0"}},
+    {"EndToEndLeadAlert", {PERSISTENT, BOOL, "0"}},
     {"LongIncrementsEnabled", {PERSISTENT, BOOL, "0"}},
     {"LongIncrementTapStep", {PERSISTENT, INT, "1"}},
     {"LongIncrementHoldStep", {PERSISTENT, INT, "5"}},

iqdbc_repo/conftest.py

@@ -4,6 +4,61 @@ collect_ignore_glob = [
   "iqdbc/safety/tests/misra/cppcheck/",
 ]
 
+# --- host test harness -------------------------------------------------------
+# tesla/volkswagen carstate+carcontroller import the closed-source ALC / odometer
+# runtime via import_verified_module(), which gates on a rootfs integrity manifest
+# that only exists on-device. Off-device (host CI / dev), install minimal stubs so
+# the whole car interface set is importable and test_car_interfaces can collect and
+# run. On-device the manifest is present and these stubs are never installed, so the
+# real verified modules are used.
+import os as _os
+
+if not _os.path.exists("/usr/libexec/iqpilot/runtime_integrity.json"):
+  import sys as _sys
+  import types as _types
+
+  def _stub_module(name, attrs):
+    mod = _types.ModuleType(name)
+    for key, value in attrs.items():
+      setattr(mod, key, value)
+    _sys.modules[name] = mod
+
+  _noop = lambda *args, **kwargs: None  # noqa: E731
+
+  class _VehicleOdometerStoreStub:
+    def __init__(self, *args, **kwargs):
+      pass
+
+    def record(self, km):
+      return km
+
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.vehicle_state",
+               {"VehicleOdometerStore": _VehicleOdometerStoreStub})
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.alc", {
+    "angle_lateral_control_enabled": lambda *a, **k: False,
+    "update_vw_alc": _noop,
+    "append_private_apd": _noop,
+    "update_mqb_carstate_alc_state": _noop,
+    "update_mlb_carstate_alc_state": _noop,
+    "update_pq_carstate_alc_state": _noop,
+  })
+  _stub_module("iqpilot_private.konn3kt.iqlvbs.iqlvbs_commander", {
+    "update_turn_signals": _noop,
+  })
+  _stub_module("iqpilot_private.konn3kt.hephaestus.vw_pq_flasher", {})
+
+  try:
+    from openpilot.system.proprietary_runtime import _verified_import as _vi
+    _real_import_verified_module = _vi.import_verified_module
+
+    def _import_verified_module(bundle, module):
+      return _sys.modules.get(module) or _real_import_verified_module(bundle, module)
+
+    _vi.import_verified_module = _import_verified_module
+  except Exception:
+    pass
+# --- end host test harness ---------------------------------------------------
+
 _ABSTRACT_BASES = frozenset(("CarSafetyTest", "AolSafetyTestBase", "SafetyTest", "SafetyTestBase"))
 
 def _method_from_base(cls, method_name):

iqdbc_repo/iqdbc/car/car_helpers.py

@@ -11,7 +11,7 @@ from iqdbc.car.mock.values import CAR as MOCK
 from iqdbc.car.values import BRANDS
 from iqdbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
-from iqdbc.iqpilot.car.interfaces import setup_interfaces as iqpilot_interfaces
+from iqdbc.lvbs.car.interfaces import apply_iq_car_config as iqpilot_interfaces
 
 FRAME_FINGERPRINT = 100  # 1s
 

iqdbc_repo/iqdbc/car/chrysler/carcontroller.py

@@ -5,9 +5,9 @@ from iqdbc.car.chrysler import chryslercan
 from iqdbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags, RAM_DT
 from iqdbc.car.interfaces import CarControllerBase
 
-from iqdbc.iqpilot.car.chrysler.carcontroller_ext import CarControllerExt
+from iqdbc.lvbs.car.chrysler.carcontroller_ext import CarControllerExt
-from iqdbc.iqpilot.car.chrysler.aol import AolCarController
+from iqdbc.lvbs.car.chrysler.aol import AolCarController
-from iqdbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
+from iqdbc.lvbs.car.chrysler.values_ext import ChryslerFlagsIQ
 
 
 class CarController(CarControllerBase, AolCarController, CarControllerExt):

iqdbc_repo/iqdbc/car/chrysler/carstate.py

@@ -4,8 +4,8 @@ from iqdbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.chrysler.carstate_ext import CarStateExt
-from iqdbc.iqpilot.car.chrysler.aol import AolCarState
+from iqdbc.lvbs.car.chrysler.aol import AolCarState
 
 ButtonType = structs.CarState.ButtonEvent.Type
 

iqdbc_repo/iqdbc/car/chrysler/fingerprints.py

@@ -2,8 +2,8 @@
 from iqdbc.car.structs import CarParams
 from iqdbc.car.chrysler.values import CAR
 
-from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
+from iqdbc.lvbs.car.fingerprints_ext import extend_fw_versions
-from iqdbc.iqpilot.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
+from iqdbc.lvbs.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
 
 Ecu = CarParams.Ecu
 
@@ -789,4 +789,4 @@ FW_VERSIONS = {
   },
 }
 
-FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
+FW_VERSIONS = extend_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

iqdbc_repo/iqdbc/car/chrysler/interface.py

@@ -5,7 +5,7 @@ from iqdbc.car.chrysler.carstate import CarState
 from iqdbc.car.chrysler.radar_interface import RadarInterface
 from iqdbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
 from iqdbc.car.interfaces import CarInterfaceBase
-from iqdbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
+from iqdbc.lvbs.car.chrysler.values_ext import ChryslerFlagsIQ
 
 
 class CarInterface(CarInterfaceBase):

iqdbc_repo/iqdbc/car/ford/carstate.py

@@ -5,7 +5,7 @@ from iqdbc.car.ford.fordcan import CanBus
 from iqdbc.car.ford.values import DBC, CarControllerParams, FordFlags
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.ford.aol import AolCarState
+from iqdbc.lvbs.car.ford.aol import AolCarState
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter

iqdbc_repo/iqdbc/car/gm/carstate.py

@@ -5,8 +5,8 @@ from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
 
-from iqdbc.iqpilot.car.gm.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.gm.carstate_ext import CarStateExt
-from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ
+from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ
 
 ButtonType = structs.CarState.ButtonEvent.Type
 TransmissionType = structs.CarParams.TransmissionType

iqdbc_repo/iqdbc/car/gm/fingerprints.py

@@ -2,8 +2,8 @@
 """ AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from iqdbc.car.gm.values import CAR
 
-from iqdbc.iqpilot.car.fingerprints_ext import merge_fingerprints
+from iqdbc.lvbs.car.fingerprints_ext import extend_fingerprints
-from iqdbc.iqpilot.car.gm.fingerprints_ext import FINGERPRINTS_EXT
+from iqdbc.lvbs.car.gm.fingerprints_ext import FINGERPRINTS_EXT
 
 # Trailblazer also matches as a SILVERADO, TODO: split with fw versions
 # FIXME: There are Equinox users with different message lengths, specifically 304 and 320
@@ -78,4 +78,4 @@ FINGERPRINTS = {
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
 }
 
-FINGERPRINTS = merge_fingerprints(FINGERPRINTS, FINGERPRINTS_EXT)
+FINGERPRINTS = extend_fingerprints(FINGERPRINTS, FINGERPRINTS_EXT)

iqdbc_repo/iqdbc/car/gm/interface.py

@@ -10,8 +10,8 @@ from iqdbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMER
 from iqdbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
 from iqdbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
 
-from iqdbc.iqpilot.car.gm.interface_ext import CarInterfaceExt
+from iqdbc.lvbs.car.gm.interface_ext import CarInterfaceExt
-from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ, GMSafetyFlagsIQ
+from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ, GMSafetyFlagsIQ
 
 TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation

iqdbc_repo/iqdbc/car/gm/values.py

@@ -6,7 +6,7 @@ from iqdbc.car.structs import CarParams
 from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
 from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ
+from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/honda/carcontroller.py

@@ -8,8 +8,8 @@ from iqdbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_
                                      HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from iqdbc.car.interfaces import CarControllerBase
 
-from iqdbc.iqpilot.car.honda.aol import AolCarController
+from iqdbc.lvbs.car.honda.aol import AolCarController
-from iqdbc.iqpilot.car.honda.gas_interceptor import GasInterceptorCarController
+from iqdbc.lvbs.car.honda.gas_interceptor import GasInterceptorCarController
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState

iqdbc_repo/iqdbc/car/honda/carstate.py

@@ -10,7 +10,7 @@ from iqdbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA
                                                  HondaFlags, CruiseButtons, CruiseSettings, GearShifter, CarControllerParams
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.honda.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.honda.carstate_ext import CarStateExt
 
 TransmissionType = structs.CarParams.TransmissionType
 ButtonType = structs.CarState.ButtonEvent.Type

iqdbc_repo/iqdbc/car/honda/fingerprints.py

@@ -2,8 +2,8 @@
 from iqdbc.car.structs import CarParams
 from iqdbc.car.honda.values import CAR
 
-from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
+from iqdbc.lvbs.car.fingerprints_ext import extend_fw_versions
-from iqdbc.iqpilot.car.honda.fingerprints_ext import FW_VERSIONS_EXT
+from iqdbc.lvbs.car.honda.fingerprints_ext import FW_VERSIONS_EXT
 
 Ecu = CarParams.Ecu
 
@@ -1098,4 +1098,4 @@ FW_VERSIONS = {
   },
 }
 
-FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
+FW_VERSIONS = extend_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

iqdbc_repo/iqdbc/car/honda/hondacan.py

@@ -2,7 +2,7 @@ from iqdbc.car import CanBusBase
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
                                       HONDA_BOSCH_CANFD, CarControllerParams)
-from iqdbc.iqpilot.car.honda.values_ext import HondaFlagsIQ
+from iqdbc.lvbs.car.honda.values_ext import HondaFlagsIQ
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side

iqdbc_repo/iqdbc/car/honda/interface.py

@@ -11,7 +11,7 @@ from iqdbc.car.honda.carstate import CarState
 from iqdbc.car.honda.radar_interface import RadarInterface
 from iqdbc.car.interfaces import CarInterfaceBase
 
-from iqdbc.iqpilot.car.honda.values_ext import HondaFlagsIQ, HondaSafetyFlagsIQ
+from iqdbc.lvbs.car.honda.values_ext import HondaFlagsIQ, HondaSafetyFlagsIQ
 
 TransmissionType = structs.CarParams.TransmissionType
 

iqdbc_repo/iqdbc/car/hyundai/carcontroller.py

@@ -8,10 +8,10 @@ from iqdbc.car.hyundai.hyundaicanfd import CanBus
 from iqdbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
 from iqdbc.car.interfaces import CarControllerBase
 
-from iqdbc.iqpilot.car.hyundai.escc import EsccCarController
+from iqdbc.lvbs.car.hyundai.escc import EsccCarController
-from iqdbc.iqpilot.car.hyundai.longitudinal.controller import LongitudinalController
+from iqdbc.lvbs.car.hyundai.longitudinal.controller import LongitudinalController
-from iqdbc.iqpilot.car.hyundai.lead_data_ext import LeadDataCarController
+from iqdbc.lvbs.car.hyundai.lead_data_ext import LeadDataCarController
-from iqdbc.iqpilot.car.hyundai.aol import AolCarController
+from iqdbc.lvbs.car.hyundai.aol import AolCarController
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState

iqdbc_repo/iqdbc/car/hyundai/carstate.py

@@ -9,10 +9,10 @@ from iqdbc.car.hyundai.hyundaicanfd import CanBus
 from iqdbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams
 from iqdbc.car.interfaces import CarStateBase
 
-from iqdbc.iqpilot.car.hyundai.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.hyundai.carstate_ext import CarStateExt
-from iqdbc.iqpilot.car.hyundai.escc import EsccCarStateBase
+from iqdbc.lvbs.car.hyundai.escc import EsccCarStateBase
-from iqdbc.iqpilot.car.hyundai.aol import AolCarState
+from iqdbc.lvbs.car.hyundai.aol import AolCarState
-from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
 
 ButtonType = structs.CarState.ButtonEvent.Type
 

iqdbc_repo/iqdbc/car/hyundai/fingerprints.py

@@ -2,8 +2,8 @@
 from iqdbc.car.structs import CarParams
 from iqdbc.car.hyundai.values import CAR
 
-from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
+from iqdbc.lvbs.car.fingerprints_ext import extend_fw_versions
-from iqdbc.iqpilot.car.hyundai.fingerprints_ext import FW_VERSIONS_EXT
+from iqdbc.lvbs.car.hyundai.fingerprints_ext import FW_VERSIONS_EXT
 
 Ecu = CarParams.Ecu
 
@@ -1286,4 +1286,4 @@ FW_VERSIONS = {
   },
 }
 
-FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
+FW_VERSIONS = extend_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

iqdbc_repo/iqdbc/car/hyundai/hyundaican.py

@@ -1,8 +1,8 @@
 import crcmod
 from iqdbc.car.hyundai.values import CAR, HyundaiFlags
 
-from iqdbc.iqpilot.car.hyundai.escc import EnhancedSmartCruiseControl
+from iqdbc.lvbs.car.hyundai.escc import EnhancedSmartCruiseControl
-from iqdbc.iqpilot.car.hyundai.lead_data_ext import CanLeadData
+from iqdbc.lvbs.car.hyundai.lead_data_ext import CanLeadData
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 

iqdbc_repo/iqdbc/car/hyundai/hyundaicanfd.py

@@ -3,7 +3,7 @@ import numpy as np
 from iqdbc.car import CanBusBase
 from iqdbc.car.crc import CRC16_XMODEM
 from iqdbc.car.hyundai.values import HyundaiFlags
-from iqdbc.iqpilot.car.hyundai.lead_data_ext import CanFdLeadData
+from iqdbc.lvbs.car.hyundai.lead_data_ext import CanFdLeadData
 
 
 class CanBus(CanBusBase):

iqdbc_repo/iqdbc/car/hyundai/interface.py

@@ -10,9 +10,9 @@ from iqdbc.car.hyundai.carcontroller import CarController
 from iqdbc.car.hyundai.carstate import CarState
 from iqdbc.car.hyundai.radar_interface import RadarInterface
 
-from iqdbc.iqpilot.car.hyundai.escc import ESCC_MSG
+from iqdbc.lvbs.car.hyundai.escc import ESCC_MSG
-from iqdbc.iqpilot.car.hyundai.longitudinal.helpers import get_longitudinal_tune
+from iqdbc.lvbs.car.hyundai.longitudinal.helpers import get_longitudinal_tune
-from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
 
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu

iqdbc_repo/iqdbc/car/hyundai/radar_interface.py

@@ -5,7 +5,7 @@ from iqdbc.car import Bus, structs
 from iqdbc.car.interfaces import RadarInterfaceBase
 from iqdbc.car.hyundai.values import DBC
 
-from iqdbc.iqpilot.car.hyundai.radar_interface_ext import RadarInterfaceExt
+from iqdbc.lvbs.car.hyundai.radar_interface_ext import RadarInterfaceExt
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32

iqdbc_repo/iqdbc/car/hyundai/values.py

@@ -8,7 +8,7 @@ from iqdbc.car.structs import CarParams
 from iqdbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
 from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, p16
 
-from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
 
 Ecu = CarParams.Ecu
 

iqdbc_repo/iqdbc/car/interfaces.py

@@ -18,7 +18,7 @@ from iqdbc.car.values import PLATFORMS
 from iqdbc.can import CANParser
 from iqdbc.car.carlog import carlog
 
-from iqdbc.iqpilot.car.interfaces import CarInterfaceBaseIQ
+from iqdbc.lvbs.car.interfaces import CarInterfaceBaseIQ
 
 GearShifter = structs.CarState.GearShifter
 ButtonType = structs.CarState.ButtonEvent.Type

iqdbc_repo/iqdbc/car/nissan/carstate.py

@@ -5,7 +5,7 @@ from iqdbc.car import Bus, create_button_events, structs
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.nissan.values import CAR, DBC, CarControllerParams
-from iqdbc.iqpilot.car.nissan.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.nissan.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type
 

iqdbc_repo/iqdbc/car/nissan/interface.py

@@ -3,7 +3,7 @@ from iqdbc.car.interfaces import CarInterfaceBase
 from iqdbc.car.nissan.carcontroller import CarController
 from iqdbc.car.nissan.carstate import CarState
 from iqdbc.car.nissan.values import CAR, NissanSafetyFlags
-from iqdbc.iqpilot.car.nissan.values import NissanSafetyFlagsIQ
+from iqdbc.lvbs.car.nissan.values import NissanSafetyFlagsIQ
 
 class CarInterface(CarInterfaceBase):
   CarState = CarState

iqdbc_repo/iqdbc/car/rivian/carcontroller.py

@@ -6,7 +6,7 @@ from iqdbc.car.interfaces import CarControllerBase
 from iqdbc.car.rivian.riviancan import create_lka_steering, create_longitudinal, create_wheel_touch, create_adas_status
 from iqdbc.car.rivian.values import CarControllerParams
 
-from iqdbc.iqpilot.car.rivian.aol import AolCarController
+from iqdbc.lvbs.car.rivian.aol import AolCarController
 
 
 class CarController(CarControllerBase, AolCarController):

iqdbc_repo/iqdbc/car/rivian/carstate.py

@@ -4,7 +4,7 @@ from iqdbc.car import Bus, structs
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.rivian.values import DBC, GEAR_MAP
 from iqdbc.car.common.conversions import Conversions as CV
-from iqdbc.iqpilot.car.rivian.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.rivian.carstate_ext import CarStateExt
 
 GearShifter = structs.CarState.GearShifter
 

iqdbc_repo/iqdbc/car/rivian/interface.py

@@ -4,7 +4,7 @@ from iqdbc.car.rivian.carcontroller import CarController
 from iqdbc.car.rivian.carstate import CarState
 from iqdbc.car.rivian.radar_interface import RadarInterface
 from iqdbc.car.rivian.values import RivianSafetyFlags
-from iqdbc.iqpilot.car.rivian.values import RivianFlagsIQ
+from iqdbc.lvbs.car.rivian.values import RivianFlagsIQ
 
 
 class CarInterface(CarInterfaceBase):

iqdbc_repo/iqdbc/car/subaru/carcontroller.py

@@ -6,7 +6,7 @@ from iqdbc.car.interfaces import CarControllerBase
 from iqdbc.car.subaru import subarucan
 from iqdbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
 
-from iqdbc.iqpilot.car.subaru.stop_and_go import SnGCarController
+from iqdbc.lvbs.car.subaru.stop_and_go import IQStopAndGoController
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
 # involves the total steering angle change rather than rate, but these limits work well for now
@@ -14,10 +14,10 @@ MAX_STEER_RATE = 25  # deg/s
 MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
-class CarController(CarControllerBase, SnGCarController):
+class CarController(CarControllerBase, IQStopAndGoController):
   def __init__(self, dbc_names, CP, CP_IQ):
     CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
-    SnGCarController.__init__(self, CP, CP_IQ)
+    IQStopAndGoController.__init__(self, CP, CP_IQ)
     self.apply_torque_last = 0
 
     self.cruise_button_prev = 0
@@ -139,7 +139,7 @@ class CarController(CarControllerBase, SnGCarController):
         if self.frame % 2 == 0:
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
-    can_sends.extend(SnGCarController.create_stop_and_go(self, self.packer, CC, CS, self.frame))
+    can_sends.extend(IQStopAndGoController.create_stop_and_go(self, self.packer, CC, CS, self.frame))
 
     new_actuators = actuators.as_builder()
     new_actuators.torque = self.apply_torque_last / self.p.STEER_MAX

iqdbc_repo/iqdbc/car/subaru/carstate.py

@@ -6,15 +6,15 @@ from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.subaru.values import DBC, CanBus, SubaruFlags
 from iqdbc.car import CanSignalRateCalculator
 
-from iqdbc.iqpilot.car.subaru.aol import AolCarState
+from iqdbc.lvbs.car.subaru.aol import AolCarState
-from iqdbc.iqpilot.car.subaru.stop_and_go import SnGCarState
+from iqdbc.lvbs.car.subaru.stop_and_go import IQStopAndGoState
 
 
-class CarState(CarStateBase, AolCarState, SnGCarState):
+class CarState(CarStateBase, AolCarState, IQStopAndGoState):
   def __init__(self, CP, CP_IQ):
     CarStateBase.__init__(self, CP, CP_IQ)
     AolCarState.__init__(self, CP, CP_IQ)
-    SnGCarState.__init__(self, CP, CP_IQ)
+    IQStopAndGoState.__init__(self, CP, CP_IQ)
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
@@ -144,7 +144,7 @@ class CarState(CarStateBase, AolCarState, SnGCarState):
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
     AolCarState.update_aol(self, ret, can_parsers)
-    SnGCarState.update(self, ret, can_parsers)
+    IQStopAndGoState.update(self, ret, can_parsers)
 
     return ret, ret_iq
 

iqdbc_repo/iqdbc/car/tesla/carcontroller.py

@@ -7,7 +7,7 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
 from iqdbc.car.tesla.values import CarControllerParams
 from iqdbc.car.vehicle_model import VehicleModel
 from openpilot.iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import get_set_speed_kph_from_params
-from iqdbc.iqpilot.car.tesla.coop_steering import CoopSteeringCarController
+from iqdbc.lvbs.car.tesla.coop_steering import CoopSteeringCarController
 
 
 def get_safety_CP():

iqdbc_repo/iqdbc/car/tesla/carstate.py

@@ -7,7 +7,7 @@ from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.tesla.teslacan import get_steer_ctrl_type
 from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, TeslaFlags
 
-from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.tesla.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type
 

iqdbc_repo/iqdbc/car/tesla/interface.py

@@ -5,7 +5,7 @@ from iqdbc.car.tesla.carstate import CarState
 from iqdbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, FSD_14_FW, Ecu
 from iqdbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR
 
-from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
 
 
 class CarInterface(CarInterfaceBase):

iqdbc_repo/iqdbc/car/toyota/carcontroller.py

@@ -13,8 +13,8 @@ from iqdbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         UNSUPPORTED_DSU_CAR
 from iqdbc.can import CANPacker
 
-from iqdbc.iqpilot.car.toyota.gas_interceptor import GasInterceptorCarController
+from iqdbc.lvbs.car.toyota.gas_interceptor import GasInterceptorCarController
-from iqdbc.iqpilot.car.toyota.values import ToyotaFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
 
 Ecu = structs.CarParams.Ecu
 LongCtrlState = structs.CarControl.Actuators.LongControlState

iqdbc_repo/iqdbc/car/toyota/carstate.py

@@ -8,8 +8,8 @@ from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
                                                   SECOC_CAR
-from iqdbc.iqpilot.car.toyota.carstate_ext import CarStateExt
+from iqdbc.lvbs.car.toyota.carstate_ext import CarStateExt
-from iqdbc.iqpilot.car.toyota.values import ToyotaFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType

iqdbc_repo/iqdbc/car/toyota/fingerprints.py

@@ -2,8 +2,8 @@
 from iqdbc.car.structs import CarParams
 from iqdbc.car.toyota.values import CAR
 
-from iqdbc.iqpilot.car.fingerprints_ext import merge_fw_versions
+from iqdbc.lvbs.car.fingerprints_ext import extend_fw_versions
-from iqdbc.iqpilot.car.toyota.fingerprints_ext import FW_VERSIONS_EXT
+from iqdbc.lvbs.car.toyota.fingerprints_ext import FW_VERSIONS_EXT
 
 Ecu = CarParams.Ecu
 
@@ -1889,4 +1889,4 @@ FW_VERSIONS = {
   },
 }
 
-FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
+FW_VERSIONS = extend_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

iqdbc_repo/iqdbc/car/toyota/interface.py

@@ -7,7 +7,7 @@ from iqdbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerPar
                                                   ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
 from iqdbc.car.disable_ecu import disable_ecu
 from iqdbc.car.interfaces import CarInterfaceBase
-from iqdbc.iqpilot.car.toyota.values import ToyotaFlagsIQ, ToyotaSafetyFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ, ToyotaSafetyFlagsIQ
 
 SteerControlType = structs.CarParams.SteerControlType
 

iqdbc_repo/iqdbc/car/toyota/tests/test_toyota_iq.py

@@ -1,7 +1,7 @@
 from iqdbc.car import gen_empty_fingerprint, structs
 from iqdbc.car.toyota.interface import CarInterface
 from iqdbc.car.toyota.values import CAR, ToyotaFlags
-from iqdbc.iqpilot.car.toyota.values import ToyotaFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
 
 
 def test_forced_secoc_toyota_clears_dashcam_mode():

iqdbc_repo/iqdbc/lvbs/car/chrysler/aol.py

@@ -8,7 +8,7 @@ from collections import namedtuple
 from iqdbc.car import Bus, structs
 from iqdbc.car.chrysler.values import RAM_CARS
 
-from iqdbc.iqpilot.aol_base import AolCarStateBase
+from iqdbc.lvbs.aol_base import AolCarStateBase
 from iqdbc.can.parser import CANParser
 
 AolDataIQ = namedtuple("AolDataIQ",

iqdbc_repo/iqdbc/lvbs/car/chrysler/carcontroller_ext.py

@@ -4,7 +4,7 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 from iqdbc.car import structs
 from iqdbc.car.interfaces import CarStateBase
 from iqdbc.car.chrysler.values import RAM_DT
-from iqdbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
+from iqdbc.lvbs.car.chrysler.values_ext import ChryslerFlagsIQ
 
 GearShifter = structs.CarState.GearShifter
 

iqdbc_repo/iqdbc/lvbs/car/chrysler/carstate_ext.py

@@ -8,7 +8,7 @@ from enum import StrEnum
 from iqdbc.car import Bus, structs
 from iqdbc.can.parser import CANParser
 from iqdbc.car.chrysler.values import RAM_HD
-from iqdbc.iqpilot.car.chrysler.values_ext import BUTTONS
+from iqdbc.lvbs.car.chrysler.values_ext import BUTTONS
 
 
 class CarStateExt:

iqdbc_repo/iqdbc/lvbs/car/fingerprints_ext.py

@@ -3,7 +3,7 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 """
 
 
-def merge_fw_versions(fw_versions, new_fw_versions):
+def extend_fw_versions(fw_versions, new_fw_versions):
   """
     Merge firmware versions by extending lists for matching ECUs,
     adding all entries regardless of duplicates.
@@ -22,7 +22,7 @@ def merge_fw_versions(fw_versions, new_fw_versions):
   return fw_versions
 
 
-def merge_fingerprints(fingerprints, new_fingerprints):
+def extend_fingerprints(fingerprints, new_fingerprints):
   """
     Merge fingerprints by extending lists for matching keys,
     adding all entries regardless of duplicates.

iqdbc_repo/iqdbc/lvbs/car/ford/aol.py

@@ -6,7 +6,7 @@ from enum import StrEnum
 
 from iqdbc.car import Bus,structs
 
-from iqdbc.iqpilot.aol_base import AolCarStateBase
+from iqdbc.lvbs.aol_base import AolCarStateBase
 from iqdbc.can.parser import CANParser
 
 

iqdbc_repo/iqdbc/lvbs/car/gm/carstate_ext.py

@@ -6,7 +6,7 @@ from enum import StrEnum
 from iqdbc.car import Bus, structs
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.can.parser import CANParser
-from iqdbc.iqpilot.car.gm.values_ext import GMFlagsIQ
+from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ
 
 
 class CarStateExt:

iqdbc_repo/iqdbc/lvbs/car/gm/interface_ext.py

@@ -7,7 +7,7 @@ from math import exp
 from iqdbc.car import structs
 from iqdbc.car.common.basedir import BASEDIR
 from iqdbc.car.gm.interface import CAR
-from iqdbc.iqpilot.car.interfaces import LatControlInputs, NanoFFModel, TorqueFromLateralAccelCallbackTypeTorqueSpace
+from iqdbc.lvbs.car.interfaces import LatControlInputs, NanoFFModel, TorqueFromLateralAccelCallbackTypeTorqueSpace
 
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],