Merge branch 'upstream/openpilot/master' into sync-20250215

# Conflicts:
#	common/params.cc
#	opendbc_repo
#	panda
#	selfdrive/car/tests/test_models.py
#	selfdrive/modeld/fill_model_msg.py
#	selfdrive/test/process_replay/process_replay.py
#	selfdrive/test/process_replay/ref_commit
#	selfdrive/ui/qt/offroad/developer_panel.cc
#	selfdrive/ui/tests/test_ui/run.py
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts
#	system/athena/athenad.py

.github/workflows/selfdrive_tests.yaml

@@ -322,7 +322,7 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
 
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml

Jenkinsfile

@@ -103,7 +103,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             def diffPaths = args.diffPaths ?: []
             def cmdTimeout = args.timeout ?: 9999
 
-            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
               println "Skipping ${name}: no changes in ${diffPaths}."
               return
             } else {
@@ -170,7 +170,7 @@ node {
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  if (env.BRANCH_NAME != 'master') {
+  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
     properties([
         disableConcurrentBuilds(abortPrevious: true)
     ])

RELEASES.md

@@ -1,23 +1,22 @@
-Version 0.9.9 (2025-03-30)
+Version 0.9.8 (2025-02-27)
 ========================
+* New driving model
+  * Model now gates applying positive acceleration in Chill mode
+* New driving monitoring model
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for bigger driving models
+  * Power draw reduced 0.5W, which means your device runs cooler
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* FIREHOSE mode
+  * Allows you to maximize your training data uploads to improve the models
+* Enable openpilot longitudinal control for Ford Q3 vehicles
+* New Toyota TSS2 longitudinal tune
 * Coming soon
   * Rivian support
   * F-150 & Mach-E support
   * Tesla Model 3 support
 
-Version 0.9.8 (2025-01-30)
-========================
-* New driving monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Coming soon
-  * New driving model with gas gating
-  * Training data upload mode
 
 Version 0.9.7 (2024-06-13)
 ========================

SConstruct

@@ -361,7 +361,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
 Export('messaging')
 
 
@@ -373,7 +373,6 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

cereal/services.py

@@ -29,7 +29,7 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
+  "roadEncodeIdx": (False, 20., 20),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
@@ -53,15 +53,15 @@ _services: dict[str, tuple] = {
   "livePose": (True, 20., 4),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 0.2, 1),
+  "thumbnail": (True, 1 / 60., 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "driverEncodeIdx": (False, 20., 20),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadEncodeIdx": (False, 20., 20),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20.),

common/file_helpers.py

@@ -1,6 +1,10 @@
+import io
 import os
 import tempfile
 import contextlib
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
 
 
 class CallbackReader:
@@ -35,3 +39,20 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
     yield tmp_file
     tmp_file_name = tmp_file.name
   os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Notre Dame (Default)"
+#define DEFAULT_MODEL "Not Too Shabby (Default)"

common/params.cc

@@ -120,6 +120,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
     {"ExperimentalMode", PERSISTENT | BACKUP},
     {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
+    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},

common/realtime.py

@@ -27,11 +27,6 @@ class Priority:
   CTRL_HIGH = 53
 
 
-def set_realtime_priority(level: int) -> None:
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
-
-
 def set_core_affinity(cores: list[int]) -> None:
   if not PC:
     os.sched_setaffinity(0, cores)
@@ -39,7 +34,8 @@ def set_core_affinity(cores: list[int]) -> None:
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
-  set_realtime_priority(priority)
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
   c = cores if isinstance(cores, list) else [cores, ]
   set_core_affinity(c)
 

docs/CARS.md

@@ -184,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.6"
+  export AGNOS_VERSION="11.8"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -111,6 +111,7 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
+  "raylib",
 ]
 
 tools = [

scripts/jenkins_loop_test.sh

@@ -0,0 +1,145 @@
+#!/usr/bin/env bash
+set -e
+
+YELLOW='\033[0;33m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+BRANCH="master"
+RUNS="20"
+
+COOKIE_JAR=/tmp/cookies
+CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
+
+function loop() {
+  JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
+  API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
+
+  for run in $(seq 1 $((RUNS / 2))); do
+
+    N=2
+    TEST_BUILDS=()
+
+    # Try to find previous builds
+    ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) )
+
+    # No builds. Create branch
+    if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then
+      TEMP_DIR=$(mktemp -d)
+      GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
+      git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
+      echo "TESTING" >> $TEMP_DIR/testing_jenkins
+      git -C $TEMP_DIR add testing_jenkins
+      git -C $TEMP_DIR commit --quiet -m "testing"
+      git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
+      rm -rf $TEMP_DIR
+      FIRST_BUILD=1
+      echo ''
+      echo 'waiting on Jenkins...'
+      echo ''
+      sleep 90
+    else
+      # Found some builds. Wait for them to end if they are still running
+      for i in ${ALL_BUILDS[@]}; do
+        running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress)
+        if [[ $running == "false" ]]; then
+          continue
+        fi
+        TEST_BUILDS=( ${ALL_BUILDS[@]} )
+        N=${#TEST_BUILDS[@]}
+        break
+      done
+    fi
+
+    # No running builds found
+    if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then
+      FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
+      LAST_BUILD=$((FIRST_BUILD+N-1))
+      TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
+
+      # Start N new builds
+      for i in ${TEST_BUILDS[@]};
+      do
+        echo "Starting build $i"
+        curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
+        sleep 5
+      done
+      echo ""
+    fi
+
+    # Wait for all builds to end
+    while true; do
+      sleep 30
+
+      count=0
+      for i in ${TEST_BUILDS[@]};
+      do
+        RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json)
+        HTTP_CODE=$(tail -n1 <<< "$RES")
+        JSON=$(sed '$ d' <<< "$RES")
+
+        if [[ $HTTP_CODE == "200" ]]; then
+          STILL_RUNNING=$(echo $JSON | jq .inProgress)
+          if [[ $STILL_RUNNING == "true" ]]; then
+            echo -e "Build $i: ${YELLOW}still running${NC}"
+            continue
+          else
+            count=$((count+1))
+            echo -e "Build $i: ${GREEN}done${NC}"
+          fi
+        else
+          echo "No status for build $i"
+        fi
+      done
+      echo "See live results: ${API_ROUTE}/buildTimeTrend"
+      echo ""
+
+      if [[ $count -ge $N ]]; then
+        break
+      fi
+    done
+
+  done
+}
+
+function usage() {
+  echo ""
+  echo "Run the Jenkins tests multiple times on a specific branch"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-n, --n${NC}"
+  echo -e "          Specify how many runs to do (default to ${BOLD}20${NC})"
+  echo -e "  ${BOLD}-b, --branch${NC}"
+  echo -e "          Specify which branch to run the tests against (default to ${BOLD}master${NC})"
+  echo ""
+}
+
+function _looper() {
+  if [[ $# -eq 0 ]]; then
+    usage
+    exit 0
+  fi
+
+  # parse Options
+  while [[ $# -gt 0 ]]; do
+    case $1 in
+      -n | --n ) shift 1; RUNS="$1"; shift 1 ;;
+      -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;;
+      * ) usage; exit 0 ;;
+    esac
+  done
+
+  echo ""
+  echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch."
+  echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before."
+  echo ""
+  read -p "Press (y/Y) to confirm: " choice
+  if [[ "$choice" == "y" || "$choice" == "Y" ]]; then
+    loop
+  fi
+
+}
+
+_looper $@

scripts/lint/lint.sh

@@ -53,7 +53,6 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
-  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

selfdrive/car/car_specific.py

@@ -45,9 +45,6 @@ class CarSpecificEvents:
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand in ('subaru', 'mazda'):
-      events = self.create_common_events(CS, CS_prev)
-
     elif self.CP.brand == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
@@ -102,13 +99,9 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+                                         pcm_enable=self.CP.pcmCruise)
-      if not self.CP.pcmCruise:
-        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
-          events.add(EventName.buttonEnable)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -122,8 +115,7 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise,
+                                         pcm_enable=self.CP.pcmCruise)
-                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
       if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -160,12 +152,12 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      raise ValueError(f"Unsupported car: {self.CP.brand}")
+      events = self.create_common_events(CS, CS_prev)
 
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, allow_button_cancel=True):
     events = Events()
 
     if CS.doorOpen:
@@ -209,12 +201,11 @@ class CarSpecificEvents:
       events.add(EventName.invalidLkasSetting)
     if CS.lowSpeedAlert:
       events.add(EventName.belowSteerSpeed)
+    if CS.buttonEnable:
+      events.add(EventName.buttonEnable)
 
-    # Handle button presses
+    # Handle cancel button presses
     for b in CS.buttonEvents:
-      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
-      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
-        events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
       # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
       if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):

selfdrive/car/card.py

@@ -8,17 +8,17 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 
-from panda import ALTERNATIVE_EXPERIENCE
-
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState

selfdrive/car/tests/test_models.py

@@ -1,3 +1,4 @@
+import time
 import capnp
 import copy
 import os
@@ -10,17 +11,15 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
 
-from cereal import messaging, log, car
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.fingerprints import all_known_cars, MIGRATION
+from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from opendbc.car.fingerprints import all_known_cars, MIGRATION
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.values import Platform
+from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.selfdrived.events import ET
+from opendbc.car.values import Platform
-from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
+from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -30,8 +29,6 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
-EventName = log.OnroadEvent.EventName
-PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
@@ -174,8 +171,6 @@ class TestCarModelBase(unittest.TestCase):
     self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
     assert self.CI
 
-    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
-
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -344,10 +339,8 @@ class TestCarModelBase(unittest.TestCase):
       to_send = libpanda_py.make_CANPacket(address, bus, dat)
       self.safety.safety_rx_hook(to_send)
 
-      can = messaging.new_message('can', 1)
+      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      can.can = [log.CanData(address=address, dat=dat, src=bus)]
+      CS = self.CI.update(can)
-
-      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -392,8 +385,6 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    selfdrived = SelfdriveD(CP=self.CP, CP_SP=self.CP_SP)
-    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -437,11 +428,8 @@ class TestCarModelBase(unittest.TestCase):
         if not self.CP.notCar:
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
-        # Check for enable events on rising edge of controls allowed
+        # Check for user button enable on rising edge of controls allowed
-        selfdrived.update_events(CS)
+        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
-        selfdrived.CS_prev = CS
-        button_enable = (selfdrived.events.contains(ET.ENABLE) and
-                         EventName.pedalPressed not in selfdrived.events.names)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from cereal import log
-from opendbc.car.interfaces import ACCEL_MIN
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -55,6 +55,8 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
+CRUISE_MIN_ACCEL = -1.2
+CRUISE_MAX_ACCEL = 1.6
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -281,7 +283,7 @@ class LongitudinalMpc:
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
       cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     else:
       raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
     self.set_cost_weights(cost_weights, constraint_cost_weights)
@@ -325,12 +327,6 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def set_accel_limits(self, min_a, max_a):
-    # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
-    # needs refactor
-    self.cruise_min_a = min_a
-    self.max_a = max_a
-
   def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
@@ -346,8 +342,7 @@ class LongitudinalMpc:
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = ACCEL_MAX
-    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -355,9 +350,9 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
       # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
+      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)

selfdrive/controls/lib/longitudinal_planner.py

@@ -18,7 +18,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
-A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -79,7 +78,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
+    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
     self.v_model_error = 0.0
+    self.output_a_target = 0.0
+    self.output_should_stop = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
@@ -134,17 +136,16 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if self.mpc.mode == 'acc':
-      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
+      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
     else:
-      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_clip = [ACCEL_MIN, ACCEL_MAX]
-      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -155,18 +156,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast = max(accel_coast, accel_clip[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
+      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
-    # clip limits, cannot init MPC outside of bounds
-    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
-    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
@@ -184,6 +181,15 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+
+    for idx in range(2):
+      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
+    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
+    self.prev_accel_clip = accel_clip
+
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
@@ -202,11 +208,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    longitudinalPlan.aTarget = float(self.output_a_target)
-    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
+    longitudinalPlan.shouldStop = bool(self.output_should_stop)
-                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = float(a_target)
-    longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 

selfdrive/debug/car/disable_ecu.py

@@ -11,5 +11,5 @@ if __name__ == "__main__":
   time.sleep(1)
 
   # honda bosch radar disable
-  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
   print(f"disabled: {disabled}")

selfdrive/debug/car/ecu_addrs.py

@@ -2,6 +2,7 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
@@ -15,6 +16,9 @@ if __name__ == "__main__":
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
@@ -29,7 +33,7 @@ if __name__ == "__main__":
   obd_callback(params)(not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)
 
   print()
   print("Found ECUs on rx addresses:")

selfdrive/debug/car/fw_versions.py

@@ -3,6 +3,7 @@ import time
 import argparse
 import cereal.messaging as messaging
 from cereal import car
+from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
 from openpilot.common.params import Params
@@ -18,6 +19,9 @@ if __name__ == "__main__":
   parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
   logcan = messaging.sub_sock('can')
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
@@ -46,13 +50,13 @@ if __name__ == "__main__":
   t = time.time()
   print("Getting vin...")
   set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()

selfdrive/debug/car/vin.py

@@ -2,6 +2,7 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
 
@@ -13,10 +14,13 @@ if __name__ == "__main__":
   parser.add_argument('--retry', type=int, default=5)
   args = parser.parse_args()
 
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
   time.sleep(1)
 
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

selfdrive/debug/clear_dtc.py

@@ -2,7 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
+from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="clear DTC status")
@@ -11,6 +13,9 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
+if args.debug:
+  carlog.setLevel('DEBUG')
+
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -20,8 +25,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 try:
   uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/debug/hyundai_enable_radar_points.py

@@ -16,7 +16,9 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
 
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from opendbc.safety import Safety
 from panda.python import Panda
 
 class ConfigValues(NamedTuple):
@@ -78,6 +80,9 @@ if __name__ == "__main__":
   parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
   args = parser.parse_args()
 
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
   try:
     check_output(["pidof", "pandad"])
     print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -92,8 +97,8 @@ if __name__ == "__main__":
     sys.exit(0)
 
   panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
-  uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
   session_type : SESSION_TYPE = 0x07 # type: ignore

selfdrive/debug/qlog_size.py

@@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
+from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 

selfdrive/debug/read_dtc_status.py

@@ -2,7 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
+from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="read DTC status")
@@ -11,6 +13,9 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
+if args.debug:
+  carlog.setLevel('DEBUG')
+
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -20,8 +25,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
 print("read diagnostic codes ...")

selfdrive/debug/vw_mqb_config.py

@@ -3,8 +3,10 @@
 import argparse
 import struct
 from enum import IntEnum
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from opendbc.safety import Safety
 from panda import Panda
 from datetime import date
 
@@ -33,10 +35,13 @@ if __name__ == "__main__":
   parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config")
   args = parser.parse_args()
 
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
   panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
   bus = 1 if panda.has_obd() else 0
-  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug)
+  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)
 
   try:
     uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/locationd/calibrationd.py

@@ -6,7 +6,6 @@ While the roll calibration is a real value that can be estimated, here we assume
 and the image input into the neural network is not corrected for roll.
 '''
 
-import gc
 import os
 import capnp
 import numpy as np
@@ -16,7 +15,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 from openpilot.common.swaglog import cloudlog
 
@@ -256,8 +255,7 @@ class Calibrator:
 
 
 def main() -> NoReturn:
-  gc.disable()
+  config_realtime_process([0, 1, 2, 3], 5)
-  set_realtime_priority(1)
 
   pm = messaging.PubMaster(['liveCalibration'])
   sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')

selfdrive/locationd/locationd.py

@@ -12,6 +12,7 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States
 from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR
@@ -78,20 +79,20 @@ class LocationEstimator:
     # sensor time and log time should be close
     sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF
     if sensor_time_invalid:
-      print("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
+      cloudlog.warning("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
     return not sensor_time_invalid
 
   def _validate_timestamp(self, t: float):
     kf_t = self.kf.t
     invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME
     if invalid:
-      print("Observation timestamp is older than the max rewind threshold of the filter")
+      cloudlog.warning("Observation timestamp is older than the max rewind threshold of the filter")
     return not invalid
 
   def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray):
     all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all()
     if not all_finite:
-      print("Non-finite values detected, kalman reset")
+      cloudlog.error("Non-finite values detected, kalman reset")
       self.reset(t)
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult:
@@ -308,13 +309,12 @@ def main():
             continue
 
           if res == HandleLogResult.TIMING_INVALID:
-            print(f"Observation {which} ignored due to failed timing check")
+            cloudlog.warning(f"Observation {which} ignored due to failed timing check")
             observation_input_invalid[which] += 1
-            print(observation_input_invalid[which])
           elif res == HandleLogResult.INPUT_INVALID:
-            print(f"Observation {which} ignored due to failed sanity check")
+            cloudlog.warning(f"Observation {which} ignored due to failed sanity check")
             observation_input_invalid[which] += 1
-          else:
+          elif res == HandleLogResult.SUCCESS:
             observation_input_invalid[which] *= input_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

selfdrive/modeld/constants.py

@@ -31,7 +31,6 @@ class ModelConstants:
   DISENGAGE_WIDTH = 5
   POSE_WIDTH = 6
   WIDE_FROM_DEVICE_WIDTH = 3
-  SIM_POSE_WIDTH = 6
   LEAD_WIDTH = 4
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
@@ -72,13 +71,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 36, 7)
+  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 36, 7)
+  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 36, 7)
+  HARD_BRAKE_5 = slice(6, 31, 6)
-  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(36, 48, 2)
+  GAS_PRESS = slice(31, 55, 4)
-  RIGHT_BLINKER = slice(37, 48, 2)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

selfdrive/modeld/dmonitoringmodeld.py

@@ -8,7 +8,6 @@ if TICI:
   os.environ['QCOM'] = '1'
 else:
   from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
-import gc
 import math
 import time
 import pickle
@@ -21,7 +20,7 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
@@ -140,9 +139,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 
 def main():
-  gc.disable()
   setproctitle(PROCESS_NAME)
-  set_realtime_priority(1)
+  config_realtime_process([0, 1, 2, 3], 5)
 
   sentry.set_tag("daemon", PROCESS_NAME)
   cloudlog.bind(daemon=PROCESS_NAME)

selfdrive/modeld/fill_model_msg.py

@@ -112,10 +112,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
-size 51453312
+size 51461700

selfdrive/modeld/parse_model_outputs.py

@@ -91,6 +91,7 @@ class Parser:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))

selfdrive/monitoring/dmonitoringd.py

@@ -1,15 +1,12 @@
 #!/usr/bin/env python3
-import gc
-
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
 
 
 def dmonitoringd_thread():
-  gc.disable()
+  config_realtime_process([0, 1, 2, 3], 5)
-  set_realtime_priority(2)
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])

selfdrive/pandad/__init__.py

@@ -2,10 +2,3 @@
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
 assert can_capnp_to_list
-
-def can_capnp_to_can_list(can, src_filter=None):
-  ret = []
-  for msg in can:
-    if src_filter is None or msg.src in src_filter:
-      ret.append((msg.address, msg.dat, msg.src))
-  return ret

selfdrive/pandad/can_list_to_can_capnp.cc

@@ -1,8 +1,7 @@
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/pandad/panda.h"
 #include "opendbc/can/common.h"
 
-void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
 

selfdrive/pandad/pandad_api_impl.pyx

@@ -6,12 +6,6 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
-cdef extern from "panda.h":
-  cdef struct can_frame:
-    long address
-    string dat
-    long src
-
 cdef extern from "opendbc/can/common.h":
   cdef struct CanFrame:
     long src
@@ -23,12 +17,12 @@ cdef extern from "opendbc/can/common.h":
     vector[CanFrame] frames
 
 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
+  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid)
   void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
-  cdef can_frame *f
+  cdef CanFrame *f
-  cdef vector[can_frame] can_list
+  cdef vector[CanFrame] can_list
 
   can_list.reserve(len(can_msgs))
   for can_msg in can_msgs:

selfdrive/selfdrived/selfdrived.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from panda import ALTERNATIVE_EXPERIENCE
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -31,7 +31,6 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -284,7 +283,7 @@ class SelfdriveD(CruiseHelper):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and not_running:
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:

selfdrive/test/longitudinal_maneuvers/maneuver.py

@@ -66,7 +66,7 @@ class Maneuver:
         print("Crashed!!!!")
         valid = False
 
-      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
+      if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
         print('LongitudinalPlanner not starting!')
         valid = False
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -30,8 +30,8 @@ class Plant:
 
     self.distance = 0.
     self.speed = speed
+    self.should_stop = False
     self.acceleration = 0.0
-    self.speeds = []
 
     # lead car
     self.lead_relevancy = lead_relevancy
@@ -134,9 +134,9 @@ class Plant:
           'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
-    self.speed = self.planner.v_desired_filter.x
+    self.acceleration = self.planner.output_a_target
-    self.acceleration = self.planner.a_desired
+    self.speed = self.speed + self.acceleration * self.ts
-    self.speeds = self.planner.v_desired_trajectory.tolist()
+    self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
@@ -168,7 +168,7 @@ class Plant:
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
-      "speeds": self.speeds,
+      "should_stop": self.should_stop,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
     }

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -150,10 +150,7 @@ def create_maneuvers(kwargs):
       enabled=False,
       **kwargs,
     ),
-  ]
+    Maneuver(
-  if not kwargs['e2e']:
-    # allow_throttle won't trigger with e2e
-    maneuvers.append(Maneuver(
       "slow to 5m/s with allow_throttle = False and pitch = +0.1",
       duration=30.,
       initial_speed=20.,
@@ -164,7 +161,7 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       ensure_slowdown=True,
       **kwargs,
-    ))
+    )]
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(

selfdrive/test/process_replay/migration.py

@@ -6,15 +6,15 @@ import traceback
 
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.toyota.values import EPS_SCALE
+from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
-from opendbc.car.ford.values import CAR as FORD, FordFlags
+from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
+from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
-from panda import Panda
 
 MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
 MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
@@ -269,19 +269,19 @@ def migrate_carOutput(msgs):
 def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
-    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+    "KIA_EV6": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS | HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2,
   }
   # TODO: get new Ford route
-  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
+  safety_param_migration |= {car: FordSafetyFlags.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
   assert CP is not None, "carParams message not found"
   fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
   if fingerprint in safety_param_migration:
-    safety_param = safety_param_migration[fingerprint]
+    safety_param = safety_param_migration[fingerprint].value
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
     if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:

selfdrive/test/process_replay/model_replay.py

@@ -33,7 +33,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.03, 0.025),
+  ("modelV2", 0.035, 0.025),
   ("driverStateV2", 0.02, 0.015),
 ]
 
@@ -57,21 +57,24 @@ def get_event(logs, event):
 def zl(array, fill):
   return zip_longest(array, [], fillvalue=fill)
 
+def get_idx_if_non_empty(l, idx=None):
+  return l if idx is None else (l[idx] if len(l) > 0 else None)
+
 def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
-                     (lambda x: x.velocity.x[0], "velocity.x"),
+                     (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
-                     (lambda x: x.action.desiredCurvature, "desiredCurvature"),
+                     (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
-                     (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
+                     (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
-                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
+                     (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
-                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     (lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
-                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
+                     (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
-                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
-                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
-                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"),
-                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
+                     (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
 
   return [plot(map(v[0], get_event(proposed, event)), \

selfdrive/test/process_replay/process_replay.py

@@ -18,11 +18,11 @@ from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.car_helpers import get_car, interfaces
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams

selfdrive/test/test_onroad.py

@@ -8,7 +8,6 @@ import shutil
 import subprocess
 import time
 import numpy as np
-import zstandard as zstd
 from collections import Counter, defaultdict
 from pathlib import Path
 from tabulate import tabulate
@@ -23,7 +22,6 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 
 """
@@ -36,7 +34,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 275.  # total for all 8 cores
+MAX_TOTAL_CPU = 280.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -44,7 +42,7 @@ PROCS = {
   "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
-  "./camerad": 14.5,
+  "./camerad": 10.0,
   "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -101,12 +99,12 @@ TIMINGS = {
   "wideRoadCameraState": [1.5, 0.35],
 }
 
-LOGS_SIZE_RATE = {
+LOGS_SIZE = {  # MB per segment
-  "qlog": 0.0083,
+  "qlog.zst": 0.5,
-  "rlog": 0.135,
+  "rlog.zst": 8.1,
-  "qcamera.ts": 0.03828,
+  "qcamera.ts": 2.3,
 }
-LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
+LOGS_SIZE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc', 'dcamera.hevc'], 76.5))
 
 
 def cputime_total(ct):
@@ -119,15 +117,16 @@ class TestOnroad:
   @classmethod
   def setup_class(cls):
     if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
       print(segs[-3])
-      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
+      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
       return
 
     # setup env
     params = Params()
     params.remove("CurrentRoute")
+    params.put_bool("RecordFront", True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
@@ -173,18 +172,15 @@ class TestOnroad:
         if proc.wait(60) is None:
           proc.kill()
 
-    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
+    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments]
 
-    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst")))
     cls.log_path = cls.segments[0]
 
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
       assert f.is_file()
       cls.log_sizes[f] = f.stat().st_size / 1e6
-      if f.name in ("qlog", "rlog"):
-        with open(f, 'rb') as ff:
-          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
     cls.msgs = defaultdict(list)
     for m in cls.lr:
@@ -217,12 +213,14 @@ class TestOnroad:
     big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
     assert len(big_logs) == 0, f"Log spam: {big_logs}"
 
-  def test_log_sizes(self):
+  def test_log_sizes(self, subtests):
+    # TODO: this isn't super stable between different devices
     for f, sz in self.log_sizes.items():
-      rate = LOGS_SIZE_RATE[f.name]
+      rate = LOGS_SIZE[f.name]/60.
-      minn = rate * TEST_DURATION * 0.8
+      minn = rate * TEST_DURATION * 0.5
-      maxx = rate * TEST_DURATION * 1.2
+      maxx = rate * TEST_DURATION * 1.5
-      assert minn < sz <  maxx
+      with subtests.test(file=f.name):
+        assert minn < sz <  maxx
 
   def test_ui_timings(self):
     result = "\n"
@@ -316,37 +314,21 @@ class TestOnroad:
   def test_gpu_usage(self):
     assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
 
-  def test_camera_processing_time(self):
+  def test_camera_frame_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"
-    result += "-------------- ImgProc Timing ------------------\n"
+    result += "-----------------  SOF Timing ------------------\n"
-    result += "------------------------------------------------\n"
-
-    ts = []
-    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
-      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
-    assert min(ts) < 0.025, f"high execution time: {min(ts)}"
-    result += f"execution time: min  {min(ts):.5f}s\n"
-    result += f"execution time: max  {max(ts):.5f}s\n"
-    result += f"execution time: mean {np.mean(ts):.5f}s\n"
-    result += "------------------------------------------------\n"
-    print(result)
-
-  @pytest.mark.skip("TODO: enable once timings are fixed")
-  def test_camera_frame_timings(self):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "-----------------  SoF Timing ------------------\n"
     result += "------------------------------------------------\n"
     for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
       ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
-      assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}"
+      result += f"{name} sof delta vs 50ms: min  {min(d50):.2f}ms\n"
-      result += f"{name} sof delta vs 50ms: min  {min(d50):.5f}s\n"
+      result += f"{name} sof delta vs 50ms: max  {max(d50):.2f}ms\n"
-      result += f"{name} sof delta vs 50ms: max  {max(d50):.5f}s\n"
+      result += f"{name} sof delta vs 50ms: mean {d50.mean():.2f}ms\n"
-      result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
+      with subtests.test(camera=name):
-      result += "------------------------------------------------\n"
+        assert max(d50) < 5.0, f"high SOF delta vs 50ms: {max(d50)}"
+    result += "------------------------------------------------\n"
     print(result)
 
   def test_mpc_execution_timings(self):

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -1,9 +1,5 @@
-#include <QDebug>
-#include <QProcess>
-
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "common/util.h"
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
@@ -114,6 +110,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     experimentalLongitudinalToggle->setVisible(false);
     hyundaiRadarTracksToggle->setVisible(false);
   }
+  experimentalLongitudinalToggle->refresh();
 
   offroad = _offroad;
 }

selfdrive/ui/qt/offroad/developer_panel.h

@@ -20,7 +20,7 @@ private:
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
   bool is_release;
-  bool offroad;
+  bool offroad = false;
 
 private slots:
   void updateToggles(bool _offroad);

selfdrive/ui/qt/offroad/settings.cc

@@ -42,6 +42,20 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
+    {
+      "FirehoseMode",
+      tr("FIREHOSE Mode"),
+      tr("Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>"
+         "Follow these steps to get your device ready:<br>"
+         "  1. Bring your device inside and connect to a good USB-C adapter<br>"
+         "  2. Connect to Wi-Fi<br>"
+         "  3. Enable this toggle<br>"
+         "  4. Leave it connected for at least 30 minutes<br>"
+         "<br>"
+         "This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness."
+         ""),
+      "../assets/offroad/icon_warning.png",
+    },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),

selfdrive/ui/translations/main_ar.ts

@@ -1553,6 +1553,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -1537,6 +1537,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_es.ts

@@ -1537,6 +1537,14 @@ Esto puede tardar un minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -1537,6 +1537,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -1533,6 +1533,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -1533,6 +1533,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1537,6 +1537,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_th.ts

@@ -1533,6 +1533,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_tr.ts

@@ -1531,6 +1531,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1533,6 +1533,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1533,6 +1533,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>FIREHOSE Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

sunnypilot/mads/helpers.py

@@ -24,10 +24,10 @@ THE SOFTWARE.
 Last updated: July 29, 2024
 """
 
-from panda import Panda, ALTERNATIVE_EXPERIENCE
-
 from openpilot.common.params import Params
 
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 
@@ -55,7 +55,7 @@ class MadsParams:
       hyundai_cruise_main_toggleable = True
       if hyundai_cruise_main_toggleable:
         CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
-        CP.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
+        CP.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE.value
 
     # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
     # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling

sunnypilot/modeld/tests/model_hash

@@ -1 +1 @@
-39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a

system/athena/athenad.py

@@ -15,7 +15,6 @@ import tempfile
 import threading
 import time
 import gzip
-import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
@@ -32,11 +31,10 @@ import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
-from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.file_helpers import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
@@ -147,6 +145,9 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
     threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
     threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler2'),
+    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler3'),
+    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler4'),
     threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
     threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
   ] + [
@@ -293,17 +294,17 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
     path = strip_zst_extension(path)
     compress = True
 
-  with open(path, "rb") as f:
+  stream = None
-    content = f.read()
+  try:
-    if compress:
+    stream, content_length = get_upload_stream(path, compress)
-      cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
+    response = requests.put(upload_item.url,
-      content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
+                            data=CallbackReader(stream, callback, content_length) if callback else stream,
-
+                            headers={**upload_item.headers, 'Content-Length': str(content_length)},
-  with io.BytesIO(content) as data:
+                            timeout=30)
-    return requests.put(upload_item.url,
+    return response
-                        data=CallbackReader(data, callback, len(content)) if callback else data,
+  finally:
-                        headers={**upload_item.headers, 'Content-Length': str(len(content))},
+    if stream:
-                        timeout=30)
+      stream.close()
 
 
 # security: user should be able to request any message from their car
@@ -522,6 +523,9 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return Params().get("GithubUsername", encoding='utf8') or ''
 
+@dispatcher.add_method
+def getFirehoseMode() -> bool:
+  return Params().get_bool("FirehoseMode") or False
 
 @dispatcher.add_method
 def getSimInfo():

system/athena/tests/test_athenad.py

@@ -138,7 +138,7 @@ class TestAthenadMethods:
     route = '2021-03-29--13-32-47'
     segments = [0, 1, 2, 3, 11]
 
-    filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
+    filenames = ['qlog.zst', 'qcamera.ts', 'rlog.zst', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
     files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
     for file in files:
       self._create_file(file)

system/camerad/SConscript

@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
+libs = ['pthread', common, 'OpenCL', messaging, visionipc, gpucommon]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',

system/camerad/cameras/camera_common.cc

@@ -3,8 +3,6 @@
 #include <cassert>
 #include <string>
 
-#include <jpeglib.h>
-
 #include "common/clutil.h"
 #include "common/swaglog.h"
 
@@ -64,11 +62,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   const SensorInfo *sensor = cam->sensor.get();
 
-  is_raw = cam->is_raw;
+  is_raw = cam->output_type == ISP_RAW_OUTPUT;
   frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
   // RAW frames from ISP
-  if (is_raw) {
+  if (cam->output_type != ISP_IFE_PROCESSED) {
     camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
 
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
@@ -150,95 +148,6 @@ kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
   return kj::mv(frame_image);
 }
 
-static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
-  int downscale = b->cur_yuv_buf->width / thumbnail_width;
-  assert(downscale * thumbnail_height == b->cur_yuv_buf->height);
-  int in_stride = b->cur_yuv_buf->stride;
-
-  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
-  std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
-  uint8_t *y_plane = buf.get();
-  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
-  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
-  {
-    // subsampled conversion from nv12 to yuv
-    for (int hy = 0; hy < thumbnail_height/2; hy++) {
-      for (int hx = 0; hx < thumbnail_width/2; hx++) {
-        int ix = hx * downscale + (downscale-1)/2;
-        int iy = hy * downscale + (downscale-1)/2;
-        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 0];
-        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 1];
-        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 0];
-        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 1];
-        u_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 0];
-        v_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 1];
-      }
-    }
-  }
-
-  struct jpeg_compress_struct cinfo;
-  struct jpeg_error_mgr jerr;
-  cinfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&cinfo);
-
-  uint8_t *thumbnail_buffer = nullptr;
-  size_t thumbnail_len = 0;
-  jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len);
-
-  cinfo.image_width = thumbnail_width;
-  cinfo.image_height = thumbnail_height;
-  cinfo.input_components = 3;
-
-  jpeg_set_defaults(&cinfo);
-  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
-  // configure sampling factors for yuv420.
-  cinfo.comp_info[0].h_samp_factor = 2;  // Y
-  cinfo.comp_info[0].v_samp_factor = 2;
-  cinfo.comp_info[1].h_samp_factor = 1;  // U
-  cinfo.comp_info[1].v_samp_factor = 1;
-  cinfo.comp_info[2].h_samp_factor = 1;  // V
-  cinfo.comp_info[2].v_samp_factor = 1;
-  cinfo.raw_data_in = TRUE;
-
-  jpeg_set_quality(&cinfo, 50, TRUE);
-  jpeg_start_compress(&cinfo, TRUE);
-
-  JSAMPROW y[16], u[8], v[8];
-  JSAMPARRAY planes[3]{y, u, v};
-
-  for (int line = 0; line < cinfo.image_height; line += 16) {
-    for (int i = 0; i < 16; ++i) {
-      y[i] = y_plane + (line + i) * cinfo.image_width;
-      if (i % 2 == 0) {
-        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
-        u[i / 2] = u_plane + offset;
-        v[i / 2] = v_plane + offset;
-      }
-    }
-    jpeg_write_raw_data(&cinfo, planes, 16);
-  }
-
-  jpeg_finish_compress(&cinfo);
-  jpeg_destroy_compress(&cinfo);
-
-  kj::Array<capnp::byte> dat = kj::heapArray<capnp::byte>(thumbnail_buffer, thumbnail_len);
-  free(thumbnail_buffer);
-  return dat;
-}
-
-void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
-  auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4);
-  if (thumbnail.size() == 0) return;
-
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initThumbnail();
-  thumbnaild.setFrameId(b->cur_frame_data.frame_id);
-  thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof);
-  thumbnaild.setThumbnail(thumbnail);
-
-  pm->send("thumbnail", msg);
-}
-
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) {
   int lum_med;
   uint32_t lum_binning[256] = {0};

system/camerad/cameras/camera_common.h

@@ -52,5 +52,4 @@ public:
 void camerad_thread();
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
-void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
 int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);

system/camerad/cameras/camera_qcom2.cc

@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -231,9 +231,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
 void CameraState::run() {
   util::set_thread_name(camera.cc.publish_name);
 
-  std::vector<const char*> pubs = {camera.cc.publish_name};
+  PubMaster pm(std::vector{camera.cc.publish_name});
-  if (camera.cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail");
-  PubMaster pm(pubs);
 
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
@@ -263,17 +261,10 @@ void CameraState::run() {
       framed.setImage(get_raw_frame_image(&camera.buf));
     }
 
-    // Process camera registers and set camera exposure
-    if (camera.is_raw) {
-      camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
-    }
     set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
     pm.send(camera.cc.publish_name, msg);
-    if (camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
-      publish_thumbnail(&pm, &camera.buf);  // this takes 10ms???
-    }
   }
 }
 
@@ -292,7 +283,7 @@ void camerad_thread() {
 
   // *** per-cam init ***
   std::vector<std::unique_ptr<CameraState>> cams;
-  for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) {
+  for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
     auto cam = std::make_unique<CameraState>(&m, config);
     cam->init(&v, device_id, ctx);
     cams.emplace_back(std::move(cam));

system/camerad/cameras/hw.h

@@ -16,6 +16,7 @@ struct CameraConfig {
   cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
   bool enabled;
   uint32_t phy;
+  bool vignetting_correction;
 };
 
 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -28,6 +29,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_0,
+  .vignetting_correction = false,
 };
 
 const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -38,6 +40,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
+  .vignetting_correction = true,
 };
 
 const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -48,4 +51,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
+  .vignetting_correction = false,
 };

system/camerad/cameras/ife.h

@@ -2,13 +2,46 @@
 
 #include "cdm.h"
 
-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/sensors/sensor.h"
 
-
+int build_common_ife_bps(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, bool ife) {
-int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
   uint8_t *start = dst;
 
+  /*
+    Common between IFE and BPS.
+  */
+
+  // IFE -> BPS addresses
+  /*
+  std::map<uint32_t, uint32_t> addrs = {
+    {0xf30, 0x3468},
+  };
+  */
+
+  // YUV
+  dst += write_cont(dst, ife ? 0xf30 : 0x3468, {
+    0x00680208,
+    0x00000108,
+    0x00400000,
+    0x03ff0000,
+    0x01c01ed8,
+    0x00001f68,
+    0x02000000,
+    0x03ff0000,
+    0x1fb81e88,
+    0x000001c0,
+    0x02000000,
+    0x03ff0000,
+  });
+
+  return dst - start;
+}
+
+int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
+  uint8_t *start = dst;
+
+  // init sequence
   dst += write_random(dst, {
     0x2c, 0xffffffff,
     0x30, 0xffffffff,
@@ -17,6 +50,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
     0x3c, 0xffffffff,
   });
 
+  // demux cfg
   dst += write_cont(dst, 0x560, {
     0x00000001,
     0x04440444,
@@ -35,36 +69,29 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
     0x00000000,
   });
 
+  // module config/enables (e.g. enable debayer, white balance, etc.)
   dst += write_cont(dst, 0x40, {
-    0x00000c06 | ((uint32_t)(camera_num == 1) << 8),
+    0x00000c06 | ((uint32_t)(cam.vignetting_correction) << 8),
   });
-
-  dst += write_cont(dst, 0x48, {
-    (1 << 3) | (1 << 1),
-  });
-
-  dst += write_cont(dst, 0x4c, {
-    0x00000019,
-  });
-
-  dst += write_cont(dst, 0xe0c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xe2c, {
-    0x00000e00,
-  });
-
   dst += write_cont(dst, 0x44, {
     0x00000000,
   });
-
+  dst += write_cont(dst, 0x48, {
-  dst += write_cont(dst, 0xaac, {
+    (1 << 3) | (1 << 1),
+  });
+  dst += write_cont(dst, 0x4c, {
+    0x00000019,
+  });
+  dst += write_cont(dst, 0xf00, {
     0x00000000,
   });
 
-  dst += write_cont(dst, 0xf00, {
+  // cropping
-    0x00000000,
+  dst += write_cont(dst, 0xe0c, {
+    0x00000e00,
+  });
+  dst += write_cont(dst, 0xe2c, {
+    0x00000e00,
   });
 
   // black level scale + offset
@@ -78,11 +105,11 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 }
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   // start with the every frame config
-  dst += build_update(dst, s, patches, camera_num);
+  dst += build_update(dst, cam, s, patches);
 
   uint64_t addr;
 
@@ -115,15 +142,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // TODO: this is DMI64 in the dump, does that matter?
   dst += write_dmi(dst, &addr, s->linearization_lut.size()*sizeof(uint32_t), 0xc24, 9);
   patches.push_back(addr - (uint64_t)start);
-  /* TODO
-  cdm_dmi_cmd_t 248
-    .length = 287
-    .reserved = 33
-    .cmd = 11
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 9
-  */
 
   // vignetting correction
   dst += write_cont(dst, 0x6bc, {
@@ -164,23 +182,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30);  // R
   patches.push_back(addr - (uint64_t)start);
 
-  // YUV
+  // output size/scaling
-  dst += write_cont(dst, 0xf30, {
-    0x00680208,
-    0x00000108,
-    0x00400000,
-    0x03ff0000,
-    0x01c01ed8,
-    0x00001f68,
-    0x02000000,
-    0x03ff0000,
-    0x1fb81e88,
-    0x000001c0,
-    0x02000000,
-    0x03ff0000,
-  });
-
-  // TODO: remove this
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
     ((s->frame_width - 1) << 16) | (s->frame_width - 1),
@@ -226,6 +228,8 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x00000017,
   });
 
+  dst += build_common_ife_bps(dst, cam, s, patches, true);
+
   return dst - start;
 }
 

system/camerad/cameras/spectra.cc

@@ -17,10 +17,9 @@
 #include "common/swaglog.h"
 #include "system/camerad/cameras/ife.h"
 #include "system/camerad/cameras/spectra.h"
+#include "system/camerad/cameras/bps_blobs.h"
 #include "third_party/linux/include/msm_media_info.h"
 
-// For debugging:
-// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
 // ************** low level camera helpers ****************
 
@@ -194,11 +193,11 @@ void SpectraMaster::init() {
   // looks like there's only one of these
   isp_fd = open_v4l_by_name_and_index("cam-isp");
   assert(isp_fd >= 0);
-  LOGD("opened isp");
+  LOGD("opened isp %d", (int)isp_fd);
 
   icp_fd = open_v4l_by_name_and_index("cam-icp");
   assert(icp_fd >= 0);
-  LOGD("opened icp");
+  LOGD("opened icp %d", (int)icp_fd);
 
   // query ISP for MMU handles
   LOG("-- Query for MMU handles");
@@ -234,14 +233,14 @@ void SpectraMaster::init() {
 
 // *** SpectraCamera ***
 
-SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw)
+SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out)
   : m(master),
     enabled(config.enabled),
     cc(config),
-    is_raw(raw) {
+    output_type(out) {
   mm.init(m->video0_fd);
 
-  ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT;
+  ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT;
   assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
@@ -257,11 +256,22 @@ int SpectraCamera::clear_req_queue() {
   req_mgr_flush_request.link_hdl = link_handle;
   req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
   int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
-  // LOGD("flushed all req: %d", ret);
+  LOGD("flushed all req: %d", ret);
+
+  if (icp_dev_handle) {
+    struct cam_flush_dev_cmd cmd = {
+      .session_handle = session_handle,
+      .dev_handle = icp_dev_handle,
+      .flush_type = CAM_FLUSH_TYPE_ALL,
+    };
+    int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
+    assert(err == 0);
+  }
 
   for (int i = 0; i < MAX_IFE_BUFS; ++i) {
     destroySyncObjectAt(i);
   }
+
   return ret;
 }
 
@@ -279,7 +289,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
-  if (!is_raw) {
+  if (output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
@@ -288,7 +298,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   open = true;
   configISP();
-  //configICP();  // needs the new AGNOS kernel
+  if (output_type == ISP_BPS_PROCESSED) configICP();
   configCSIPHY();
   linkDevices();
 
@@ -300,8 +310,9 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
 void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
   for (uint64_t i = start; i < start + n; ++i) {
-    request_ids[(i - 1) % ife_buf_depth] = i;
+    uint64_t idx = (i - 1) % ife_buf_depth;
-    enqueue_buffer((i - 1) % ife_buf_depth, dp);
+    request_ids[idx] = i;
+    enqueue_buffer(idx, dp);
   }
 }
 
@@ -454,22 +465,245 @@ int SpectraCamera::sensors_init() {
   return ret;
 }
 
+void add_patch(struct cam_packet *pkt, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) {
+  void *ptr = (char*)&pkt->payload + pkt->patch_offset;
+  struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*pkt->num_patches);
+  p->dst_buf_hdl = dst_hdl;
+  p->src_buf_hdl = src_hdl;
+  p->dst_offset = dst_offset;
+  p->src_offset = src_offset;
+  pkt->num_patches++;
+};
+
 void SpectraCamera::config_bps(int idx, int request_id) {
   /*
     Handles per-frame BPS config.
     * BPS = Bayer Processing Segment
   */
-  (void)idx;
-  (void)request_id;
-}
 
-void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) {
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n);
+  size += sizeof(struct cam_patch_desc)*9;
-  p->dst_buf_hdl = dst_hdl;
+
-  p->src_buf_hdl = src_hdl;
+  uint32_t cam_packet_handle = 0;
-  p->dst_offset = dst_offset;
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  p->src_offset = src_offset;
+
-};
+  pkt->header.op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE;
+  pkt->header.request_id = request_id;
+  pkt->header.size = size;
+
+  typedef struct {
+    struct {
+      uint32_t ptr[2];
+      uint32_t unknown[2];
+    } frames[9];
+
+    uint32_t unknown1;
+    uint32_t unknown2;
+    uint32_t unknown3;
+    uint32_t unknown4;
+
+    uint32_t cdm_addr;
+    uint32_t cdm_size;
+    uint32_t settings_addr;
+    uint32_t striping_addr;
+    uint32_t cdm_addr2;
+
+    uint32_t req_id;
+    uint64_t handle;
+  } bps_tmp;
+
+  typedef struct {
+    uint32_t a;
+    uint32_t n;
+    unsigned base : 32;
+    unsigned unused : 12;
+    unsigned length : 20;
+    uint32_t p;
+    uint32_t u;
+    uint32_t h;
+    uint32_t b;
+  } cdm_tmp;
+
+  // *** cmd buf ***
+  std::vector<uint32_t> patches;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+  {
+    pkt->num_cmd_buf = 2;
+    pkt->kmd_cmd_buf_index = -1;
+    pkt->kmd_cmd_buf_offset = 0;
+
+    buf_desc[0].meta_data = 0;
+    buf_desc[0].mem_handle = bps_cmd.handle;
+    buf_desc[0].type = CAM_CMD_BUF_FW;
+    buf_desc[0].offset = bps_cmd.aligned_size()*idx;
+
+    buf_desc[0].length = sizeof(bps_tmp) + sizeof(cdm_tmp);
+    buf_desc[0].size = buf_desc[0].length;
+
+    // rest gets patched in
+    bps_tmp *fp = (bps_tmp *)((unsigned char *)bps_cmd.ptr + buf_desc[0].offset);
+    memset(fp, 0, buf_desc[0].length);
+    fp->handle = (uint64_t)icp_dev_handle;
+    fp->cdm_size = bps_cdm_striping_bl.size;   // this comes from the striping lib create call
+    fp->req_id = 0; // why always 0?
+
+    cdm_tmp *pa = (cdm_tmp *)((unsigned char *)fp + sizeof(bps_tmp));
+    pa->a = 0;
+    pa->n = 1;
+    pa->p = 20;  // GENERIC
+    pa->u = 0;
+    pa->h = 0;
+    pa->b = 0;
+    pa->unused = 0;
+    pa->base = 0; // this gets patched
+
+    int cdm_len = 0;
+
+    if (bps_lin_reg.size() == 0) {
+      for (int i = 0; i < 4; i++) {
+        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+      }
+    }
+
+    if (bps_ccm_reg.size() == 0) {
+      for (int i = 0; i < 3; i++) {
+        bps_ccm_reg.push_back(sensor->color_correct_matrix[i] | (sensor->color_correct_matrix[i+3] << 0x10));
+        bps_ccm_reg.push_back(sensor->color_correct_matrix[i+6]);
+      }
+    }
+
+    // white balance
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2868, {
+      0x04000400,
+      0x00000400,
+      0x00000000,
+      0x00000000,
+    });
+    // debayer
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2878, {
+      0x00000080,
+      0x00800066,
+    });
+    // linearization, EN=0
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
+    /*
+    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
+    uint64_t addr;
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
+    patches.push_back(addr - (uint64_t)start);
+    */
+    // color correction
+    cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
+
+    cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
+
+    pa->length = cdm_len - 1;
+
+    // *** second command ***
+    // parsed by cam_icp_packet_generic_blob_handler
+    struct isp_packet {
+      uint32_t header;
+      struct cam_icp_clk_bw_request clk;
+    } __attribute__((packed)) tmp;
+    tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
+    tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
+    tmp.clk.budget_ns = 0x1fca058;
+    tmp.clk.frame_cycles = 2329024; // comes from the striping lib
+    tmp.clk.rt_flag = 0x0;
+    tmp.clk.uncompressed_bw = 0x38512180;
+    tmp.clk.compressed_bw = 0x38512180;
+
+    buf_desc[1].size = sizeof(tmp);
+    buf_desc[1].offset = 0;
+    buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
+    buf_desc[1].type = CAM_CMD_BUF_GENERIC;
+    buf_desc[1].meta_data = CAM_ICP_CMD_META_GENERIC_BLOB;
+    auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+    memcpy(buf2.get(), &tmp, sizeof(tmp));
+  }
+
+  // *** io config ***
+  pkt->num_io_configs = 2;
+  pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
+  struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
+  {
+    // input frame
+    io_cfg[0].offsets[0] = 0;
+    io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
+
+    io_cfg[0].planes[0] = (struct cam_plane_cfg){
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
+      .plane_stride = sensor->frame_stride,
+      .slice_height = sensor->frame_height + sensor->extra_height,
+    };
+    io_cfg[0].format = sensor->mipi_format;
+    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
+    io_cfg[0].color_pattern = 0x5;
+    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
+    io_cfg[0].resource_type = CAM_ICP_BPS_INPUT_IMAGE;
+    io_cfg[0].fence = sync_objs_ife[idx];
+    io_cfg[0].direction = CAM_BUF_INPUT;
+    io_cfg[0].subsample_pattern = 0x1;
+    io_cfg[0].framedrop_pattern = 0x1;
+
+    // output frame
+    io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
+    io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
+    io_cfg[1].planes[0] = (struct cam_plane_cfg){
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
+      .plane_stride = stride,
+      .slice_height = y_height,
+    };
+    io_cfg[1].planes[1] = (struct cam_plane_cfg){
+      .width = sensor->frame_width,
+      .height = sensor->frame_height/2,
+      .plane_stride = stride,
+      .slice_height = uv_height,
+    };
+    io_cfg[1].offsets[1] = ALIGNED_SIZE(io_cfg[1].planes[0].plane_stride*io_cfg[1].planes[0].slice_height, 0x1000);
+    assert(io_cfg[1].offsets[1] == uv_offset);
+
+    io_cfg[1].format = CAM_FORMAT_NV12;  // TODO: why is this 21 in the dump? should be 12
+    io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
+    io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+    io_cfg[1].fence = sync_objs_bps[idx];
+    io_cfg[1].direction = CAM_BUF_OUTPUT;
+    io_cfg[1].subsample_pattern = 0x1;
+    io_cfg[1].framedrop_pattern = 0x1;
+  }
+
+  // *** patches ***
+  {
+    assert(patches.size() == 0 | patches.size() == 1);
+    pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
+
+    if (patches.size() > 0) {
+      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+    }
+
+    // input frame
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
+
+    // output frame
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+
+    // rest of buffers
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0);
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr2), bps_cmd.handle, sizeof(bps_tmp));
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + 0xc8, bps_cdm_program_array.handle, 0);
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, striping_addr), bps_striping.handle, 0);
+    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr), bps_cdm_striping_bl.handle, 0);
+  }
+
+  int ret = device_config(m->icp_fd, session_handle, icp_dev_handle, cam_packet_handle);
+  assert(ret == 0);
+}
 
 void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   /*
@@ -509,11 +743,12 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     buf_desc[0].offset = ife_cmd.aligned_size()*idx;
 
     // stream of IFE register writes
+    bool is_raw = output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
     }
 
@@ -597,8 +832,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
 
     struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
-
+    if (output_type != ISP_IFE_PROCESSED) {
-    if (is_raw) {
       io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
         .width = sensor->frame_width,
@@ -611,7 +845,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].color_pattern = 0x5;
       io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
       io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
-      io_cfg[0].fence = sync_objs[idx];
+      io_cfg[0].fence = sync_objs_ife[idx];
       io_cfg[0].direction = CAM_BUF_OUTPUT;
       io_cfg[0].subsample_pattern = 0x1;
       io_cfg[0].framedrop_pattern = 0x1;
@@ -636,7 +870,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].color_pattern = 0x0;
       io_cfg[0].bpp = 0;
       io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL;
-      io_cfg[0].fence = sync_objs[idx];
+      io_cfg[0].fence = sync_objs_ife[idx];
       io_cfg[0].direction = CAM_BUF_OUTPUT;
       io_cfg[0].subsample_pattern = 0x1;
       io_cfg[0].framedrop_pattern = 0x1;
@@ -649,21 +883,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     // order here corresponds to the one in build_initial_config
     assert(patches.size() == 6 || patches.size() == 0);
 
-    pkt->num_patches = patches.size();
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
-    if (pkt->num_patches > 0) {
+    if (patches.size() > 0) {
-      void *p = (char*)&pkt->payload + pkt->patch_offset;
-
       // linearization LUT
-      add_patch(p, 0, ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0);
+      add_patch(pkt.get(), ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0);
 
       // vignetting correction LUTs
-      add_patch(p, 1, ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0);
+      add_patch(pkt.get(), ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0);
-      add_patch(p, 2, ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size);
+      add_patch(pkt.get(), ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size);
 
       // gamma LUTs
       for (int i = 0; i < 3; i++) {
-        add_patch(p, i+3, ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i);
+        add_patch(pkt.get(), ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i);
       }
     }
   }
@@ -676,23 +907,46 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   int ret;
   uint64_t request_id = request_ids[i];
 
-  if (sync_objs[i]) {
+  // Before queuing up a new frame, wait for the
-    // SOF has come in, wait until readout is complete
+  // previous one in this slot (index) to come in.
+  if (sync_objs_ife[i]) {
+    // TODO: write a test to stress test w/ a low timeout and check camera frame ids match
+
     struct cam_sync_wait sync_wait = {0};
-    sync_wait.sync_obj = sync_objs[i];
+
+    // *** Wait for IFE ***
+    // in RAW_OUTPUT mode, this is just the frame readout from the sensor
+    // in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms)
+    sync_wait.sync_obj = sync_objs_ife[i];
     sync_wait.timeout_ms = 100;
     ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
-      // TODO: handle frame drop cleanly
+      LOGE("failed to wait for IFE sync: %d %d", ret, sync_wait.sync_obj);
-      // when this happens, it messes up future frames
-      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
     }
-    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
+
+    // *** Wait for BPS ***
+    if (ret == 0 && sync_objs_bps[i]) {
+      sync_wait.sync_obj = sync_objs_bps[i];
+      sync_wait.timeout_ms = 50; // typically 7ms
+      ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+      if (ret != 0) {
+        LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj);
+      }
+    }
+
+    // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
     buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    if (dp) {
+    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
+
+    // all good, hand off frame
+    if (dp && ret == 0) {
       buf.queue(i);
     }
 
+    if (ret != 0) {
+      clear_req_queue();
+    }
+
     destroySyncObjectAt(i);
   }
 
@@ -703,14 +957,14 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   if (ret != 0) {
     LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
   }
-  sync_objs[i] = sync_create.sync_obj;
+  sync_objs_ife[i] = sync_create.sync_obj;
 
   if (icp_dev_handle > 0) {
     ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
     if (ret != 0) {
       LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
     }
-    sync_objs_bps_out[i] = sync_create.sync_obj;
+    sync_objs_bps[i] = sync_create.sync_obj;
   }
 
   // schedule request with camera request manager
@@ -728,7 +982,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
 
   // submit request to IFE and BPS
   config_ife(i, request_id);
-  config_bps(i, request_id);
+  if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
 }
 
 void SpectraCamera::destroySyncObjectAt(int index) {
@@ -744,14 +998,14 @@ void SpectraCamera::destroySyncObjectAt(int index) {
     sync_obj = 0;  // Reset the sync object to 0
   };
 
-  destroy_sync_obj(m->cam_sync_fd, sync_objs[index]);
+  destroy_sync_obj(m->cam_sync_fd, sync_objs_ife[index]);
-  destroy_sync_obj(m->cam_sync_fd, sync_objs_bps_out[index]);
+  destroy_sync_obj(m->cam_sync_fd, sync_objs_bps[index]);
 }
 
 void SpectraCamera::camera_map_bufs() {
   int ret;
   for (int i = 0; i < ife_buf_depth; i++) {
-    // configure ISP to put the image in place
+    // map our VisionIPC bufs into ISP memory
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
@@ -761,14 +1015,16 @@ void SpectraCamera::camera_map_bufs() {
       mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
     }
 
-    if (is_raw) {
+    if (output_type != ISP_IFE_PROCESSED) {
       // RAW bayer images
       mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
       ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
       assert(ret == 0);
       LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
       buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
-    } else {
+    }
+
+    if (output_type != ISP_RAW_OUTPUT) {
       // final processed images
       VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
       mem_mgr_map_cmd.fd = vb->fd;
@@ -865,7 +1121,7 @@ void SpectraCamera::configISP() {
     },
   };
 
-  if (is_raw) {
+  if (output_type != ISP_IFE_PROCESSED) {
     in_port_info.line_start = 0;
     in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1;
     in_port_info.height = sensor->frame_height + sensor->extra_height;
@@ -890,7 +1146,7 @@ void SpectraCamera::configISP() {
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, ife_buf_depth);
-  if (!is_raw) {
+  if (output_type == ISP_IFE_PROCESSED) {
     assert(sensor->gamma_lut_rgb.size() == 64);
     ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20,
                        CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@@ -920,11 +1176,19 @@ void SpectraCamera::configICP() {
     Configures both the ICP and BPS.
   */
 
+  int cfg_handle;
+
+  uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]);
+  void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1,
+                              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+                              m->icp_device_iommu);
+  memcpy(cfg, bps_cfg[sensor->num()], cfg_size);
+
   struct cam_icp_acquire_dev_info icp_info = {
     .scratch_mem_size = 0x0,
-    .dev_type = 0x1,  // BPS
+    .dev_type = CAM_ICP_RES_TYPE_BPS,
-    .io_config_cmd_size = 0,
+    .io_config_cmd_size = cfg_size,
-    .io_config_cmd_handle = 0,
+    .io_config_cmd_handle = cfg_handle,
     .secure_mode = 0,
     .num_out_res = 1,
     .in_res = (struct cam_icp_res_info){
@@ -945,26 +1209,45 @@ void SpectraCamera::configICP() {
   icp_dev_handle = *h;
   LOGD("acquire icp dev");
 
-  // BPS CMD buffer
+  release(m->video0_fd, cfg_handle);
-  unsigned char striping_out[] = "\x00";
+
-  bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20,
+  // BPS has a lot of buffers to init
+  bps_cmd.init(m, 464, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-               m->icp_device_iommu);
+               m->icp_device_iommu, 0, ife_buf_depth);
 
-  bps_iq.init(m, 560, 0x20,
+  // BPSIQSettings struct
+  uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]);
+  bps_iq.init(m, settings_size, 0x20,
               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
               m->icp_device_iommu);
-  bps_cdm_program_array.init(m, 0x40, 0x20,
+  memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size);
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
-  bps_striping.init(m, sizeof(striping_out), 0x20,
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
-  memcpy(bps_striping.ptr, striping_out, sizeof(striping_out));
 
-  bps_cdm_striping_bl.init(m,  65216, 0x20,
+  // for cdm register writes, just make it bigger than you need
+  bps_cdm_program_array.init(m, 0x1000, 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+
+  // striping lib output
+  uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
+  bps_striping.init(m, striping_size, 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+  memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
+
+  // used internally by the BPS, we just allocate it.
+  // size comes from the BPSStripingLib
+  bps_cdm_striping_bl.init(m, 0xa100, 0x20,
                            CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                            m->icp_device_iommu);
+
+  // LUTs
+  /*
+  bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
+  */
 }
 
 void SpectraCamera::configCSIPHY() {
@@ -1015,6 +1298,7 @@ void SpectraCamera::linkDevices() {
   req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
   req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
   int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  assert(ret == 0);
   link_handle = req_mgr_link_info.link_hdl;
   LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
 
@@ -1028,9 +1312,15 @@ void SpectraCamera::linkDevices() {
 
   ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
   LOGD("start csiphy: %d", ret);
+  assert(ret == 0);
   ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
   assert(ret == 0);
+  if (output_type == ISP_BPS_PROCESSED) {
+    ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
+    LOGD("start icp: %d", ret);
+    assert(ret == 0);
+  }
 }
 
 void SpectraCamera::camera_close() {
@@ -1041,8 +1331,13 @@ void SpectraCamera::camera_close() {
     // LOGD("stop sensor: %d", ret);
     int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
     LOGD("stop isp: %d", ret);
+    if (output_type == ISP_BPS_PROCESSED) {
+      ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
+      LOGD("stop icp: %d", ret);
+    }
     ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
     LOGD("stop csiphy: %d", ret);
+
     // link control stop
     LOG("-- Stop link control");
     struct cam_req_mgr_link_control req_mgr_link_control = {0};
@@ -1063,17 +1358,22 @@ void SpectraCamera::camera_close() {
 
     // release devices
     LOGD("-- Release devices");
-    if (icp_dev_handle > 0) {
+    ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
+    LOGD("release isp: %d", ret);
+    if (output_type == ISP_BPS_PROCESSED) {
       ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
       LOGD("release icp: %d", ret);
     }
-    ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
-    LOGD("release isp: %d", ret);
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
     LOGD("release csiphy: %d", ret);
 
     for (int i = 0; i < ife_buf_depth; i++) {
-      release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
+      if (buf_handle_raw[i]) {
+        release(m->video0_fd, buf_handle_raw[i]);
+      }
+      if (buf_handle_yuv[i]) {
+        release(m->video0_fd, buf_handle_yuv[i]);
+      }
     }
     LOGD("released buffers");
   }
@@ -1095,7 +1395,9 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
   uint64_t real_id = event_data->u.frame_msg.request_id;
 
   if (real_id != 0) { // next ready
-    if (real_id == 1) {idx_offset = main_id;}
+    if (real_id == 1) {
+      idx_offset = main_id;
+    }
     int buf_idx = (real_id - 1) % ife_buf_depth;
 
     // check for skipped frames

system/camerad/cameras/spectra.h

@@ -9,7 +9,7 @@
 #include "media/cam_req_mgr.h"
 
 #include "common/util.h"
-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
 
@@ -29,6 +29,12 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
+typedef enum {
+  ISP_RAW_OUTPUT,   // raw frame from sensor
+  ISP_IFE_PROCESSED,  // fully processed image through the IFE
+  ISP_BPS_PROCESSED,  // fully processed image through the BPS
+} SpectraOutputType;
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -103,7 +109,7 @@ public:
 
 class SpectraCamera {
 public:
-  SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw);
+  SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out);
   ~SpectraCamera();
 
   void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@@ -166,18 +172,21 @@ public:
   SpectraBuf bps_cdm_striping_bl;
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
+  SpectraBuf bps_linearization_lut;
+  std::vector<uint32_t> bps_lin_reg;
+  std::vector<uint32_t> bps_ccm_reg;
 
   int buf_handle_yuv[MAX_IFE_BUFS] = {};
   int buf_handle_raw[MAX_IFE_BUFS] = {};
-  int sync_objs[MAX_IFE_BUFS] = {};
+  int sync_objs_ife[MAX_IFE_BUFS] = {};
-  int sync_objs_bps_out[MAX_IFE_BUFS] = {};
+  int sync_objs_bps[MAX_IFE_BUFS] = {};
   uint64_t request_ids[MAX_IFE_BUFS] = {};
   uint64_t request_id_last = 0;
   uint64_t frame_id_last = 0;
   uint64_t idx_offset = 0;
   bool skipped = true;
 
-  bool is_raw;
+  SpectraOutputType output_type;
 
   CameraBuf buf;
   MemoryManager mm;

system/camerad/sensors/ar0231.cc

@@ -1,7 +1,6 @@
 #include <cassert>
 #include <cmath>
 
-#include "common/swaglog.h"
 #include "system/camerad/sensors/sensor.h"
 
 namespace {
@@ -16,64 +15,6 @@ const float sensor_analog_gains_AR0231[] = {
     5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
     7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
 
-std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) {
-  // This function builds a lookup table from register address, to a pair of indices in the
-  // buffer where to read this address. The buffer contains padding bytes,
-  // as well as markers to indicate the type of the next byte.
-  //
-  // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
-  // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
-  // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
-
-  int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
-  auto get_next_idx = [](int cur_idx) {
-    return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1;  // Every third byte is padding
-  };
-
-  std::map<uint16_t, std::pair<int, int>> registers;
-  for (int register_row = 0; register_row < 2; register_row++) {
-    uint8_t *registers_raw = data + s->frame_stride * register_row;
-    assert(registers_raw[0] == 0x0a);  // Start of line
-
-    int value_tag_count = 0;
-    int first_val_idx = 0;
-    uint16_t cur_addr = 0;
-
-    for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
-      int val_idx = get_next_idx(i);
-
-      uint8_t tag = registers_raw[i];
-      uint16_t val = registers_raw[val_idx];
-
-      if (tag == 0xAA) {  // Register MSB tag
-        cur_addr = val << 8;
-      } else if (tag == 0xA5) {  // Register LSB tag
-        cur_addr |= val;
-        cur_addr -= 2;           // Next value tag will increment address again
-      } else if (tag == 0x5A) {  // Value tag
-
-        // First tag
-        if (value_tag_count % 2 == 0) {
-          cur_addr += 2;
-          first_val_idx = val_idx;
-        } else {
-          registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
-        }
-
-        value_tag_count++;
-      }
-    }
-  }
-  return registers;
-}
-
-float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
-  // See AR0231 Developer Guide - page 36
-  float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
-  float t0 = 55.0 - slope * (float)calib2;
-  return t0 + slope * (float)data_reg;
-}
-
 }  // namespace
 
 AR0231::AR0231() {
@@ -169,33 +110,6 @@ AR0231::AR0231() {
   };
 }
 
-void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
-  const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
-  uint8_t *data = cur_buf + registers_offset;
-
-  if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
-    LOGE("unexpected register data found");
-    return;
-  }
-
-  if (ar0231_register_lut.empty()) {
-    ar0231_register_lut = ar0231_build_register_lut(this, data);
-  }
-  std::map<uint16_t, uint16_t> registers;
-  for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
-    auto offset = ar0231_register_lut[addr];
-    registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
-  }
-
-  uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
-  framed.setFrameIdSensor(frame_id);
-
-  float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
-  float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
-  framed.setTemperaturesC({temp_0, temp_1});
-}
-
-
 std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
   uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
   return {

system/camerad/sensors/sensor.h

@@ -22,7 +22,6 @@ public:
   virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
   virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
   virtual int getSlaveAddress(int port) const { assert(0); }
-  virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
 
   cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   float pixel_size_mm;
@@ -82,6 +81,10 @@ public:
   std::vector<uint32_t> linearization_lut;     // length 36
   std::vector<uint32_t> linearization_pts;     // length 4
   std::vector<uint32_t> vignetting_lut;        // length 221
+
+  const int num() const {
+    return static_cast<int>(image_sensor);
+  };
 };
 
 class AR0231 : public SensorInfo {
@@ -90,7 +93,6 @@ public:
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
-  void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
 
 private:
   mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;

system/camerad/test/debug.sh

@@ -5,7 +5,7 @@ set -e
 
 # no CCI and UTIL, very spammy
 echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
-echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+#echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
 scons -u -j8 --minimal .

system/hardware/tici/agnos.json

@@ -1,24 +1,4 @@
 [
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8.img.xz",
-    "hash": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8",
-    "hash_raw": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8",
-    "size": 16422912,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29.img.xz",
-    "hash": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29",
-    "hash_raw": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29",
-    "size": 4404019200,
-    "sparse": false,
-    "full_check": false,
-    "has_ab": true
-  },
   {
     "name": "xbl",
     "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
@@ -27,17 +7,8 @@
     "size": 3282256,
     "sparse": false,
     "full_check": true,
-    "has_ab": true
+    "has_ab": true,
-  },
+    "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247"
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true
   },
   {
     "name": "xbl_config",
@@ -47,17 +18,19 @@
     "size": 98124,
     "sparse": false,
     "full_check": true,
-    "has_ab": true
+    "has_ab": true,
+    "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419"
   },
   {
-    "name": "devcfg",
+    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 40336,
+    "size": 274432,
     "sparse": false,
     "full_check": true,
-    "has_ab": true
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
   },
   {
     "name": "aop",
@@ -67,6 +40,45 @@
     "size": 184364,
     "sparse": false,
     "full_check": true,
-    "has_ab": true
+    "has_ab": true,
+    "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
+    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
+    "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "size": 18475008,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
+    "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
+    "hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+    "size": 4404019200,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
+    "alt": {
+      "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
+      "size": 4404019200
+    }
   }
 ]

system/hardware/tici/all-partitions.json

@@ -0,0 +1,400 @@
+[
+  {
+    "name": "gpt_main_0",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_0-8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd.img.xz",
+    "hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "hash_raw": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "gpt": {
+      "lun": 0,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_1",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_1-fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6.img.xz",
+    "hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "hash_raw": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "gpt": {
+      "lun": 1,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_2",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_2-5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21.img.xz",
+    "hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "hash_raw": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "gpt": {
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+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "5d780092d51c569e6b8a28ab73f4029bcc3517698f496af5801f863c9865060f"
+  },
+  {
+    "name": "userdata_89",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz",
+    "hash": "ba49fef48573e9befdfb6334181753855cb83d3e1d8c6d4d83d510ea0141ec3f",
+    "hash_raw": "6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80",
+    "size": 95563022336,
+    "sparse": true,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "19b63b184063c25ff2fc9f1c8d1c919c140c3e1295ebac6cb66e64c5cb609abe"
+  },
+  {
+    "name": "userdata_30",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz",
+    "hash": "828d0911713af02de7fae4c583a2274783e344939f296c7c016866a8cf2cb63f",
+    "hash_raw": "498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe",
+    "size": 32212254720,
+    "sparse": true,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92"
+  }
+]

system/hardware/tici/hardware.py

@@ -76,7 +76,7 @@ def sudo_write(val, path):
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8')
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
   except Exception:
     return ""
 
@@ -371,7 +371,7 @@ class Tici(HardwareBase):
 
     # *** CPU config ***
 
-    # offline big cluster, leave core 4 online for pandad
+    # offline big cluster
     for i in range(4, 8):
       val = '0' if powersave_enabled else '1'
       sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
@@ -384,13 +384,13 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # GPU
+    # GPU, modeld core
-    affine_irq(5, "kgsl-3d0")
+    affine_irq(7, "kgsl-3d0")
 
     # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
+    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
     for n in camera_irqs:
-      affine_irq(5, n)
+      affine_irq(6, n)
 
   def get_gpu_usage_percent(self):
     try:

system/hardware/tici/tests/test_power_draw.py

@@ -31,7 +31,7 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),

system/loggerd/SConscript

@@ -1,10 +1,10 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
-        'z', 'avformat', 'avcodec', 'swscale',
+        'avformat', 'avcodec', 'avutil',
-        'avutil', 'yuv', 'OpenCL', 'pthread']
+        'yuv', 'OpenCL', 'pthread', 'zstd']
 
-src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc']
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
   src += ['encoder/ffmpeg_encoder.cc']
 
@@ -19,8 +19,8 @@ logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
 env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
 env.Program('bootlog.cc', LIBS=libs)
 
 if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto'])
+  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto'])

system/loggerd/bootlog.cc

@@ -5,6 +5,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "system/loggerd/logger.h"
+#include "system/loggerd/zstd_writer.h"
 
 
 static kj::Array<capnp::word> build_boot_log() {
@@ -50,14 +51,14 @@ static kj::Array<capnp::word> build_boot_log() {
 
 int main(int argc, char** argv) {
   const std::string id = logger_get_identifier("BootCount");
-  const std::string path = Path::log_root() + "/boot/" + id;
+  const std::string path = Path::log_root() + "/boot/" + id + ".zst";
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
   bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
   assert(r);
 
-  RawFile file(path.c_str());
+  ZstdFileWriter file(path, LOG_COMPRESSION_LEVEL);
   // Write initdata
   file.write(logger_build_init_data().asBytes());
   // Write bootlog

system/loggerd/encoder/encoder.cc

@@ -6,12 +6,7 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
   out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
   out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
 
-
+  pm.reset(new PubMaster(std::vector{encoder_info.publish_name}));
-  std::vector pubs = {encoder_info.publish_name};
-  if (encoder_info.thumbnail_name != NULL) {
-    pubs.push_back(encoder_info.thumbnail_name);
-  }
-  pm.reset(new PubMaster(pubs));
 }
 
 void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -45,15 +40,4 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
   capnp::writeMessage(output_stream, msg);
   pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
-
-  // Publish keyframe thumbnail
-  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && encoder_info.thumbnail_name != NULL) {
-    MessageBuilder tm;
-    auto thumbnail = tm.initEvent().initThumbnail();
-    thumbnail.setFrameId(extra.frame_id);
-    thumbnail.setTimestampEof(extra.timestamp_eof);
-    thumbnail.setThumbnail(dat);
-    thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
-    pm->send(encoder_info.thumbnail_name, tm);
-  }
 }

system/loggerd/encoder/encoder.h

@@ -30,8 +30,6 @@ public:
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
-  void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
-
   int in_width, in_height;
   int out_width, out_height;
   const EncoderInfo encoder_info;

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -48,7 +48,10 @@ FfmpegEncoder::~FfmpegEncoder() {
 }
 
 void FfmpegEncoder::encoder_open(const char* path) {
-  const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF);
+  auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
+                      ? AV_CODEC_ID_H264
+                      : AV_CODEC_ID_FFVHUFF;
+  const AVCodec *codec = avcodec_find_encoder(codec_id);
 
   this->codec_ctx = avcodec_alloc_context3(codec);
   assert(this->codec_ctx);

system/loggerd/encoder/jpeg_encoder.cc

@@ -0,0 +1,105 @@
+#include "system/loggerd/encoder/jpeg_encoder.h"
+
+#include <cassert>
+#include <cstring>
+
+JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
+    : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
+  yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
+  pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
+}
+
+JpegEncoder::~JpegEncoder() {
+  if (out_buffer) {
+    free(out_buffer);
+  }
+}
+
+void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
+  generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride);
+
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initThumbnail();
+  thumbnaild.setFrameId(extra.frame_id);
+  thumbnaild.setTimestampEof(extra.timestamp_eof);
+  thumbnaild.setThumbnail({out_buffer, out_size});
+
+  pm->send(publish_name.c_str(), msg);
+}
+
+void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) {
+  int downscale = width / thumbnail_width;
+  assert(downscale * thumbnail_height == height);
+
+  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
+  uint8_t *y_plane = yuv_buffer.data();
+  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
+  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
+  {
+    // subsampled conversion from nv12 to yuv
+    for (int hy = 0; hy < thumbnail_height / 2; hy++) {
+      for (int hx = 0; hx < thumbnail_width / 2; hx++) {
+        int ix = hx * downscale + (downscale - 1) / 2;
+        int iy = hy * downscale + (downscale - 1) / 2;
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1];
+        u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0];
+        v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1];
+      }
+    }
+  }
+
+  compressToJpeg(y_plane, u_plane, v_plane);
+}
+
+void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
+  struct jpeg_compress_struct cinfo;
+  struct jpeg_error_mgr jerr;
+  cinfo.err = jpeg_std_error(&jerr);
+  jpeg_create_compress(&cinfo);
+
+  if (out_buffer) {
+    free(out_buffer);
+    out_buffer = nullptr;
+    out_size = 0;
+  }
+  jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
+
+  cinfo.image_width = thumbnail_width;
+  cinfo.image_height = thumbnail_height;
+  cinfo.input_components = 3;
+
+  jpeg_set_defaults(&cinfo);
+  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
+  // configure sampling factors for yuv420.
+  cinfo.comp_info[0].h_samp_factor = 2;  // Y
+  cinfo.comp_info[0].v_samp_factor = 2;
+  cinfo.comp_info[1].h_samp_factor = 1;  // U
+  cinfo.comp_info[1].v_samp_factor = 1;
+  cinfo.comp_info[2].h_samp_factor = 1;  // V
+  cinfo.comp_info[2].v_samp_factor = 1;
+  cinfo.raw_data_in = TRUE;
+
+  jpeg_set_quality(&cinfo, 50, TRUE);
+  jpeg_start_compress(&cinfo, TRUE);
+
+  JSAMPROW y[16], u[8], v[8];
+  JSAMPARRAY planes[3]{y, u, v};
+
+  for (int line = 0; line < cinfo.image_height; line += 16) {
+    for (int i = 0; i < 16; ++i) {
+      y[i] = y_plane + (line + i) * cinfo.image_width;
+      if (i % 2 == 0) {
+        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
+        u[i / 2] = u_plane + offset;
+        v[i / 2] = v_plane + offset;
+      }
+    }
+    jpeg_write_raw_data(&cinfo, planes, 16);
+  }
+
+  jpeg_finish_compress(&cinfo);
+  jpeg_destroy_compress(&cinfo);
+}

system/loggerd/encoder/jpeg_encoder.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstddef>
+#include <cstdint>
+#include <jpeglib.h>
+#include <vector>
+#include <memory>
+#include "cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionbuf.h"
+
+class JpegEncoder {
+public:
+  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  ~JpegEncoder();
+  void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
+
+private:
+  void generateThumbnail(const uint8_t *y, const uint8_t *uv, int width, int height, int stride);
+  void compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane);
+
+  int thumbnail_width;
+  int thumbnail_height;
+  std::string publish_name;
+  std::vector<uint8_t> yuv_buffer;
+  std::unique_ptr<PubMaster> pm;
+
+  // JPEG output buffer
+  unsigned char* out_buffer = nullptr;
+  unsigned long out_size = 0;
+};

system/loggerd/encoder/v4l_encoder.cc

@@ -155,7 +155,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
 V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
     : VideoEncoder(encoder_info, in_width, in_height) {
-  fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK);
+  fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK));
   assert(fd >= 0);
 
   struct v4l2_capability cap;

system/loggerd/encoderd.cc

@@ -1,6 +1,7 @@
 #include <cassert>
 
 #include "system/loggerd/loggerd.h"
+#include "system/loggerd/encoder/jpeg_encoder.h"
 
 #ifdef QCOM2
 #include "system/loggerd/encoder/v4l_encoder.h"
@@ -50,6 +51,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   std::vector<std::unique_ptr<Encoder>> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
+  std::unique_ptr<JpegEncoder> jpeg_encoder;
+
   int cur_seg = 0;
   while (!do_exit) {
     if (!vipc_client.connect(false)) {
@@ -67,6 +70,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height));
         e->encoder_open(nullptr);
       }
+
+      // Only one thumbnail can be generated per camera stream
+      if (auto thumbnail_name = cam_info.encoder_infos[0].thumbnail_name) {
+        jpeg_encoder = std::make_unique<JpegEncoder>(thumbnail_name, buf_info.width / 4, buf_info.height / 4);
+      }
     }
 
     bool lagging = false;
@@ -108,6 +116,10 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
           LOGE("Failed to encode frame. frame_id: %d", extra.frame_id);
         }
       }
+
+      if (jpeg_encoder && (extra.frame_id % 1200 == 100)) {
+        jpeg_encoder->pushThumbnail(buf, extra);
+      }
     }
   }
 }

system/loggerd/logger.cc

@@ -113,6 +113,42 @@ std::string logger_get_identifier(std::string key) {
   return util::string_format("%08x--%s", cnt, ss.str().c_str());
 }
 
+std::string zstd_decompress(const std::string &in) {
+  ZSTD_DCtx *dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = {in.data(), in.size(), 0};
+
+  // Estimate and reserve memory for decompressed data
+  size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in.data(), in.size());
+  if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
+    estimatedDecompressedSize = in.size() * 2;  // Use a fallback size
+  }
+
+  std::string decompressedData;
+  decompressedData.reserve(estimatedDecompressedSize);
+
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // Recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size) {
+    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
+
+    size_t result = ZSTD_decompressStream(dctx, &output, &input);
+    if (ZSTD_isError(result)) {
+      break;
+    }
+
+    decompressedData.append(outputBuffer.data(), output.pos);
+  }
+
+  ZSTD_freeDCtx(dctx);
+  decompressedData.shrink_to_fit();
+  return decompressedData;
+}
+
+
 static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
@@ -144,12 +180,11 @@ bool LoggerState::next() {
   bool ret = util::create_directories(segment_path, 0775);
   assert(ret == true);
 
-  const std::string rlog_path = segment_path + "/rlog";
+  lock_file = segment_path + "/rlog.lock";
-  lock_file = rlog_path + ".lock";
   std::ofstream{lock_file};
 
-  rlog.reset(new RawFile(rlog_path));
+  rlog.reset(new ZstdFileWriter(segment_path + "/rlog.zst", LOG_COMPRESSION_LEVEL));
-  qlog.reset(new RawFile(segment_path + "/qlog"));
+  qlog.reset(new ZstdFileWriter(segment_path + "/qlog.zst", LOG_COMPRESSION_LEVEL));
 
   // log init data & sentinel type.
   write(init_data.asBytes(), true);

system/loggerd/logger.h

@@ -7,31 +7,12 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
+#include "system/loggerd/zstd_writer.h"
 
-class RawFile {
+constexpr int LOG_COMPRESSION_LEVEL = 10;
- public:
-  RawFile(const std::string &path) {
-    file = util::safe_fopen(path.c_str(), "wb");
-    assert(file != nullptr);
-  }
-  ~RawFile() {
-    util::safe_fflush(file);
-    int err = fclose(file);
-    assert(err == 0);
-  }
-  inline void write(void* data, size_t size) {
-    int written = util::safe_fwrite(data, 1, size, file);
-    assert(written == size);
-  }
-  inline void write(kj::ArrayPtr<capnp::byte> array) { write(array.begin(), array.size()); }
-
- private:
-  FILE* file = nullptr;
-};
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
-
 class LoggerState {
 public:
   LoggerState(const std::string& log_root = Path::log_root());
@@ -48,8 +29,9 @@ protected:
   int part = -1, exit_signal = 0;
   std::string route_path, route_name, segment_path, lock_file;
   kj::Array<capnp::word> init_data;
-  std::unique_ptr<RawFile> rlog, qlog;
+  std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };
 
 kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_identifier(std::string key);
+std::string zstd_decompress(const std::string &in);

system/loggerd/loggerd.h

@@ -56,6 +56,7 @@ public:
 
 const EncoderInfo main_road_encoder_info = {
   .publish_name = "roadEncodeData",
+  .thumbnail_name = "thumbnail",
   .filename = "fcamera.hevc",
   INIT_ENCODE_FUNCTIONS(RoadEncode),
 };

system/loggerd/tests/test_encoder.py

@@ -106,7 +106,7 @@ class TestEncoder:
 
         # Check encodeIdx
         if encode_idx_name is not None:
-          rlog_path = f"{route_prefix_path}--{i}/rlog"
+          rlog_path = f"{route_prefix_path}--{i}/rlog.zst"
           msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
           encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
 

system/loggerd/tests/test_logger.cc

@@ -9,12 +9,13 @@ void verify_segment(const std::string &route_path, int segment, int max_segment,
   SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
 
   REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
-  for (const char *fn : {"/rlog", "/qlog"}) {
+  for (const char *fn : {"/rlog.zst", "/qlog.zst"}) {
     const std::string log_file = segment_path + fn;
     std::string log = util::read_file(log_file);
     REQUIRE(!log.empty());
+    std::string decompressed_log = zstd_decompress(log);
     int event_cnt = 0, i = 0;
-    kj::ArrayPtr<const capnp::word> words((capnp::word *)log.data(), log.size() / sizeof(capnp::word));
+    kj::ArrayPtr<const capnp::word> words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word));
     while (words.size() > 0) {
       try {
         capnp::FlatArrayMessageReader reader(words);

system/loggerd/tests/test_loggerd.py

@@ -142,7 +142,7 @@ class TestLoggerd:
     Params().put("RecordFront", "1")
 
     d = DEVICE_CAMERAS[("tici", "ar0231")]
-    expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
+    expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
     streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
                (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
                (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
@@ -229,7 +229,7 @@ class TestLoggerd:
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
     sent_msgs = self._publish_random_messages(services)
 
-    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog")
+    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog.zst")
     lr = list(LogReader(qlog_path))
 
     # check initData and sentinel
@@ -255,7 +255,7 @@ class TestLoggerd:
     services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
     sent_msgs = self._publish_random_messages(services)
 
-    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog")))
+    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.zst")))
 
     # check initData and sentinel
     self._check_init_data(lr)