openpilot v0.9.1 release

date: 2023-02-17T21:02:50 master commit: 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
enable experimental longitudinal control on devel
2026-08-28 03:33:46 +08:00 · 2023-02-23 14:29:12 -08:00 · 2022-11-21 16:30:34 -08:00 · 2022-11-16 06:35:41 +00:00 · 2022-08-23 18:53:12 +00:00 · 2022-08-10 19:17:58 -07:00
4850 changed files with 77365 additions and 1137337 deletions
@@ -1,19 +0,0 @@
---
-Checks: '
-bugprone-*,
-bugprone-integer-division,
-bugprone-narrowing-conversions,
-performance-*,
-clang-analyzer-*,
-misc-*,
-misc-unused-parameters,
-modernize-*,
-modernize-avoid-c-arrays,
-modernize-deprecated-headers,
-modernize-use-auto,
-modernize-use-using,
-modernize-use-nullptr,
-modernize-use-trailing-return-type,
-'
-CheckOptions:
-...
@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/
@@ -1,17 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi
@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}
@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi
@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env
@@ -1,39 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-*.so
-*.a
-
-venv/
-.venv/
-
-notebooks
-phone
-massivemap
-neos
-installer
-chffr/app2
-chffr/backend/env
-selfdrive/nav
-selfdrive/baseui
-selfdrive/test/simulator2
-**/cache_data
-xx/plus
-xx/community
-xx/projects
-!xx/projects/eon_testing_master
-!xx/projects/map3d
-xx/ops
-xx/junk
@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-trim_trailing_whitespace = true
-
-[{*.py, *.pyx, *.pxd}]
-charset = utf-8
-indent_style = space
-indent_size = 2
@@ -1,47 +0,0 @@
-name: Bug report
-description: For issues with running openpilot on your comma device
-labels: ["bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
-          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-
@@ -1,53 +0,0 @@
-name: Car bug report
-description: For issues with a particular car make or model
-labels: ["car", "bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: car
-    attributes:
-      label: Which car does this affect?
-      placeholder: Toyota Prius 2017
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-
@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord
@@ -1,8 +0,0 @@
---
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
---
-
@@ -1,42 +0,0 @@
-name: PC bug report
-description: For issues with running openpilot on PC
-labels: ["PC"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: os-version
-    attributes:
-      label: OS Version
-      placeholder: Ubuntu 24.04
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version or commit
-      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Additional info
-
@@ -1,15 +0,0 @@
---
-name: Bug fix
-about: For openpilot bug fixes
-title: ''
-labels: 'bugfix'
-assignees: ''
---
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
@@ -1,19 +0,0 @@
---
-name: Car Bug fix
-about: For vehicle/brand specific bug fixes
-title: ''
-labels: 'car bug fix'
-assignees: ''
---
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
-
-**Route**
-
-Route: [a route with the bug fix]
@@ -1,15 +0,0 @@
---
-name: Car port
-about: For new car ports
-title: ''
-labels: 'car port'
-assignees: ''
---
-
-**Checklist**
-
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
- [ ] car harness used (if comma doesn't sell it, put N/A):
@@ -1,13 +0,0 @@
---
-name: Fingerprint
-about: For adding fingerprints to existing cars
-title: ''
-labels: 'fingerprint'
-assignees: ''
---
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
@@ -1,15 +0,0 @@
---
-name: Refactor
-about: For code refactors
-title: ''
-labels: 'refactor'
-assignees: ''
---
-
-**Description**
-
-<!-- A description of the refactor, including the goals it accomplishes. -->
-
-**Verification**
-
-<!-- Explain how you tested the refactor for regressions. -->
@@ -1,31 +0,0 @@
---
-name: Tuning
-about: For openpilot tuning changes
-title: ''
-labels: 'tuning'
-assignees: ''
---
-
-**Description**
-
-<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
-
-**Verification**
-
-<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
-Use the PlotJuggler tuning layout to compare planned versus actual behavior.
-
-Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
-
-Longitudinal:
-* Maintaining speed at 25, 40, 65mph
-* Driving up and down hills
-* Accelerating from a stop
-* Decelerating to a stop
-* Following large changes in set speed
-* Coming to a stop behind a lead car
-
-Lateral:
-* Straight driving at ~25, ~45 and ~65mph
-* Turns driving at ~25, ~45 and ~65mph
-->
@@ -1,30 +0,0 @@
-import pathlib
-
-GITHUB_FOLDER = pathlib.Path(__file__).parent
-
-PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
-
-order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
-
-def create_pull_request_template():
-  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
-    f.write("<!-- Please copy and paste the relevant template -->\n\n")
-
-    for t in order:
-      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
-      text = template.read_text()
-
-      # Remove metadata for GitHub
-      start = text.find("---")
-      end = text.find("---", start+1)
-      text = text[end + 4:]
-
-      # Remove comments
-      text = text.replace("<!-- ", "").replace("-->", "")
-
-      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
-      f.write(text)
-      f.write("\n\n")
-      f.write("-->\n\n")
-
-create_pull_request_template()
@@ -1,79 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**'
-
-body:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/body/*'
-
-chrysler:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
-
-ford:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/ford/*'
-
-gm:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/gm/*'
-
-honda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/honda/*'
-
-hyundai:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
-
-mazda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
-
-nissan:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
-
-subaru:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
-
-tesla:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
-
-toyota:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
-
-volkswagen:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
-
-fingerprint:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/**'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-research:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
-->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
-->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
-->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
-->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
-->
-
@@ -1,49 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'false'
-    required: false
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
@@ -1,53 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, edited, edited]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: comment
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -1,277 +0,0 @@
-name: Compile FrogPilot
-
-on:
-  workflow_dispatch:
-    inputs:
-      runner:
-        description: "Select the runner"
-        required: true
-        default: "c3"
-        type: choice
-        options:
-          - c3
-          - c3x
-      not_vetted:
-        description: "This branch is not vetted"
-        required: false
-        default: "false"
-        type: boolean
-      publish_frogpilot:
-        description: "Push to FrogPilot"
-        required: false
-        default: "false"
-        type: boolean
-      publish_staging:
-        description: "Push to FrogPilot-Staging"
-        required: false
-        default: "false"
-        type: boolean
-      publish_testing:
-        description: "Push to FrogPilot-Testing"
-        required: false
-        default: "false"
-        type: boolean
-      publish_custom_branch:
-        description: "Push to custom branch:"
-        required: false
-        default: ""
-        type: string
-      update_translations:
-        description: "Update missing/outdated translations"
-        required: false
-        default: "false"
-        type: boolean
-      vet_existing_translations:
-        description: "Vet existing translations"
-        required: false
-        default: "false"
-        type: boolean
-
-env:
-  BASEDIR: "${{ github.workspace }}"
-  BUILD_DIR: /data/openpilot
-  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
-
-jobs:
-  get_branch:
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-    outputs:
-      branch: ${{ steps.get_branch.outputs.branch }}
-      python_version: ${{ steps.get_python_version.outputs.python_version }}
-    steps:
-      - name: Determine Current Branch on Runner
-        id: get_branch
-        run: |
-          cd $BUILD_DIR
-
-          BRANCH=$(git rev-parse --abbrev-ref HEAD)
-          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
-
-      - name: Get Python Version from Runner
-        id: get_python_version
-        run: |
-          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
-          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
-
-  translate:
-    if: inputs.update_translations
-    needs: get_branch
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout Required Files
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ needs.get_branch.outputs.branch }}
-          sparse-checkout: |
-            frogpilot/ui/
-            selfdrive/controls/lib/alerts_offroad.json
-            selfdrive/ui/
-            selfdrive/ui/update_translations.py
-            selfdrive/ui/translations/
-            selfdrive/ui/translations/auto_translate.py
-
-      - name: Set Up Python
-        uses: actions/setup-python@v4
-        with:
-          python-version: "${{ needs.get_branch.outputs.python_version }}"
-
-      - name: Install Dependencies
-        run: pip install requests
-
-      - name: Install Qt5 Tools
-        run: sudo apt update && sudo apt install -y qttools5-dev-tools
-
-      - name: Update Translations
-        run: python selfdrive/ui/update_translations.py --vanish
-
-      - name: Update Missing Translations
-        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files
-        timeout-minutes: 300
-
-      - name: Vet Existing Translations
-        if: github.event.inputs.vet_existing_translations == 'true'
-        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
-        timeout-minutes: 300
-
-      - name: Commit and Push Translation Updates
-        run: |
-          if git diff --quiet selfdrive/ui/translations/*.ts; then
-            echo "No translation updates detected."
-            exit 0
-          fi
-
-          git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
-          git checkout ${{ needs.get_branch.outputs.branch }}
-          git add selfdrive/ui/translations/*.ts
-          git commit --amend --no-edit
-          git push --force origin ${{ needs.get_branch.outputs.branch }}
-
-  build_and_push:
-    needs:
-      - get_branch
-      - translate
-    if: always()
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-    permissions:
-      contents: write
-    defaults:
-      run:
-        working-directory: ${{ env.BUILD_DIR }}
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global http.postBuffer 104857600
-
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Update Repository
-        run: |
-          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
-
-          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
-            git fetch origin ${{ needs.get_branch.outputs.branch }}
-            git reset --hard FETCH_HEAD
-          fi
-
-      - name: Take Ownership of Build
-        run: |
-          sudo chown -R $(whoami):$(whoami) .
-
-      - name: Finalize Build
-        run: |
-          rm -f .clang-tidy
-          rm -f .dockerignore
-          rm -f .editorconfig
-          rm -f .gitattributes
-          rm -f .gitmodules
-          rm -f .lfsconfig
-          rm -f .overlay_init
-          rm -f .pre-commit-config.yaml
-          rm -f .sconsign.dblite
-          rm -f codecov.yml
-          rm -f conftest.py
-          rm -f poetry.lock
-          rm -f pyproject.toml
-          rm -f teleoprtc
-          rm -f Dockerfile.openpilot
-          rm -f Dockerfile.openpilot_base
-          rm -f Jenkinsfile
-
-          rm -f panda/board/obj/.placeholder
-          rm -f panda/board/obj/bootstub.panda.elf
-          rm -f panda/board/obj/bootstub.panda_h7.elf
-          rm -f panda/board/obj/panda.bin
-          rm -f panda/board/obj/panda.elf
-          rm -f panda/board/obj/panda_h7.bin
-          rm -f panda/board/obj/panda_h7.elf
-          rm -f panda/board/obj/version
-
-          find . -name '*.a' -delete
-          find . -name '*.o' -delete
-          find . -name '*.onnx' -delete
-          find . -name '*.os' -delete
-          find . -name '*.pyc' -delete
-          find . -name 'moc_*' -delete
-
-          rm -rf .devcontainer/
-          rm -rf .vscode/
-          rm -rf body/
-          rm -rf opendbc/generator/
-          rm -rf release/
-          rm -rf scripts/
-          rm -rf site_scons/
-          rm -rf teleoprtc_repo/
-
-          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
-
-          find .github/workflows -mindepth 1 ! \( \
-            -type f \( \
-              -name 'compile_frogpilot.yaml' -o \
-              -name 'review_pull_request.yaml' -o \
-              -name 'schedule_update.yaml' -o \
-              -name 'update_pr_branch.yaml' -o \
-              -name 'update_release_branch.yaml' -o \
-              -name 'update_tinygrad.yaml' \
-            \) \
-          \) -exec rm -rf {} +
-
-          find panda/board/jungle -type f ! -name '__init__.py' -delete
-          find panda/board/jungle -type d -empty -delete
-
-          find third_party/ -name '*x86*' -exec rm -rf {} +
-          find third_party/ -name '*Darwin*' -exec rm -rf {} +
-
-          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
-
-          find . -name 'SConstruct' -delete
-          find . -name 'SConscript' -delete
-
-          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
-          find . -type d -empty ! -path "./.git*" -delete
-          find . -type d -name '__pycache__' -exec rm -rf {} +
-          find . -type f -regex '.*matlab.*\.md' -delete
-
-          touch prebuilt
-
-          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
-            touch not_vetted
-          fi
-
-      - name: Add the update_date file
-        if: github.event.inputs.publish_staging == 'true'
-        run: |
-          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
-
-      - name: Commit Build
-        run: |
-          git add -f .
-          git commit -m "Compile FrogPilot"
-          git push --force origin HEAD
-
-          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot"
-          fi
-
-          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Staging"
-          fi
-
-          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Testing"
-          fi
-
-          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
-            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
-          fi
@@ -1,64 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Build docs
-      run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
-
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-
-        git checkout --orphan tmp
-        git rm -rf .
-
-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-        git add -f .
-
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages
@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"
@@ -1,54 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 10 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    env:
-      TARGET_DIR: /tmp/openpilot
-      ImageOS: ubuntu20
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build master-ci'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Build master-ci
-      run: |
-        release/build_devel.sh
-    - name: Run tests
-      run: |
-        export PYTHONPATH=$TARGET_DIR
-        cd $TARGET_DIR
-        scons -j$(nproc)
-        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
-    - name: Push master-ci
-      run: |
-        unset TARGET_DIR
-        BRANCH=master-ci release/build_devel.sh
@@ -1,63 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-jobs:
-  bump_submodules:
-    name: bump_submodules
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
-        git add .
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: bump submodules
-        title: '[bot] Bump submodules'
-        branch: auto-bump-submodules
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> bump_submodules'
-        labels: bot
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-    - name: poetry lock
-      run: |
-        pip install poetry
-        poetry lock
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot
@@ -1,34 +0,0 @@
-name: Review Pull Request
-
-on:
-  pull_request_target:
-    types: [opened, reopened]
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-jobs:
-  pr_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Exit If PR Opened by FrogAi
-        if: ${{ github.actor == 'FrogAi' }}
-        run: |
-          echo PR opened or reopened by FrogAi. No action needed.
-          exit 0
-
-      - name: Close PR for Invalid Target Branch
-        if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
-        run: |
-          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
-            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
-
-          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
-            -X PATCH \
-            -f state="closed"
-
-      - name: Acknowledge PR for Valid Target Branch
-        if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
-        run: |
-          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
-            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"
@@ -1,57 +0,0 @@
-name: Schedule FrogPilot Update
-
-on:
-  workflow_dispatch:
-    inputs:
-      scheduled_date:
-        description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
-        required: true
-
-env:
-  BRANCH: FrogPilot-Staging
-
-jobs:
-  schedule-update:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.BRANCH }}
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ env.BRANCH }}
-          fetch-depth: 3
-
-      - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
-        run: |
-          echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
-          git add .github/update_date
-
-      - name: Get Target Commit (Second Most Recent)
-        id: get_target
-        run: |
-          TARGET_COMMIT=$(git rev-parse HEAD~1)
-
-          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
-          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
-
-          echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
-          echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
-          echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
-
-      - name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
-        run: git commit --fixup="${{ env.TARGET_COMMIT }}"
-
-      - name: Autosquash Fixup into Target Commit
-        run: |
-          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
-
-      - name: Restore Timestamps on Final Two Commits
-        run: |
-          git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
-
-      - name: Push Updated ${{ env.BRANCH }} Branch
-        run: git push origin "${{ env.BRANCH }}" --force-with-lease
@@ -1,330 +0,0 @@
-name: selfdrive
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
-      run: release/check-submodules.sh
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 3
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
-      run: |
-        cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
-
-  build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Build openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: 15
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  process_replay:
-    name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: 30
-      run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
-    - name: Run regen
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  test_cars:
-    name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: 20
-      run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 2
-        JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
-                            python selfdrive/ui/tests/test_ui/run.py"
-      - name: Upload Test Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report
@@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
@@ -1,40 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-runs:
-  using: "composite"
-  steps:
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true
@@ -1,63 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: true
-    default: ''
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
-    # https://buildjet.com/for-github-actions/docs/guides/docker
-    - shell: bash
-      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
-      run: |
-        echo "Need to set the Docker Hub PAT secret as an input to this action"
-        exit 1
-    - name: Login to Docker Hub
-      if: contains(runner.name, 'buildjet')
-      shell: bash
-      run: |
-        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
@@ -1,29 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 14
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
@@ -1,67 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
-        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt
@@ -1,85 +0,0 @@
-name: Update MAKE-PRS-HERE
-
-on:
-  push:
-    branches:
-      - FrogPilot-Staging
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-  SOURCE_BRANCH: FrogPilot-Staging
-  TARGET_BRANCH: MAKE-PRS-HERE
-
-jobs:
-  update_branch:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.SOURCE_BRANCH }}
-        uses: actions/checkout@v3
-        with:
-          persist-credentials: false
-
-          fetch-depth: 0
-
-          ref: ${{ env.SOURCE_BRANCH }}
-
-      - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
-        id: find_parent
-        run: |
-          COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
-          [ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
-
-          PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
-          [ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
-
-          echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
-          echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
-
-      - name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
-        run: |
-          git fetch origin "${{ env.TARGET_BRANCH }}"
-          git checkout "${{ env.TARGET_BRANCH }}"
-
-      - name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
-        run: |
-          git rm -r --ignore-unmatch .
-          git clean -fdx
-          git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
-
-          COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
-          SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
-
-          [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
-
-          rm -f .github/update_date
-
-          git add --all
-
-      - name: Commit and Push to ${{ env.TARGET_BRANCH }}
-        run: |
-          TZ_VALUE="America/Phoenix"
-          day=$(TZ="$TZ_VALUE" date +"%-d")
-          month=$(TZ="$TZ_VALUE" date +"%B")
-          year=$(TZ="$TZ_VALUE" date +"%Y")
-
-          case $day in
-            11|12|13) s=th ;;
-            *) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
-          esac
-
-          commit_message="${month} ${day}${s}, ${year} Update"
-
-          if git log -1 --pretty=%s | grep -q "$commit_message"; then
-            git commit --amend --no-edit
-          else
-            git commit -m "$commit_message"
-          fi
-
-          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
-          git push origin "${{ env.TARGET_BRANCH }}" --force
@@ -1,131 +0,0 @@
-name: Update FrogPilot Branch
-
-on:
-  schedule:
-    - cron: "0 18 * * 6"
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-  BRANCH_FROGPILOT: FrogPilot
-  BRANCH_PREVIOUS: FrogPilot-Previous
-  BRANCH_STAGING: FrogPilot-Staging
-
-  TZ: America/Phoenix
-
-  UPDATE_FILE: .github/update_date
-
-jobs:
-  check_update:
-    runs-on: ubuntu-latest
-    outputs:
-      update_due: ${{ steps.check_update.outputs.update_due }}
-      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
-    steps:
-      - name: Download the "update_date" File
-        id: download_update
-        run: |
-          curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
-
-      - name: Check If Update Is Due
-        id: check_update
-        run: |
-          if [ -f update_date_missing ]; then
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          SCHEDULED_DATE=$(cat update_date)
-          CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
-
-          if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          echo "update_due=true" >> "$GITHUB_OUTPUT"
-          echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
-
-  update_branch:
-    needs: check_update
-    if: ${{ needs.check_update.outputs.update_due == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.BRANCH_STAGING }}
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-          ref: ${{ env.BRANCH_STAGING }}
-
-      - name: Authenticate with GITHUB_TOKEN
-        run: |
-          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
-
-      - name: Update README Date and Remove update file
-        run: |
-          DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
-
-          case "$DAY" in
-            1|21|31) SUFFIX="st" ;;
-            2|22)    SUFFIX="nd" ;;
-            3|23)    SUFFIX="rd" ;;
-            *)       SUFFIX="th" ;;
-          esac
-
-          MONTH=$(TZ="${{ env.TZ }}" date +'%B')
-          YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
-
-          DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
-          DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
-
-          sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
-
-          git add README.md
-          git rm -f "${{ env.UPDATE_FILE }}"
-          git commit -m "Updated README date to ${DATE}"
-
-      - name: Squash Commits
-        run: |
-          COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
-
-          git reset --soft HEAD~2
-          git commit -m "$COMMIT_MSG"
-
-      - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
-        run: |
-          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
-          COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
-
-          git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
-
-      - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
-        run: |
-          git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
-
-      - name: Wait Until Noon ${{ env.TZ }}
-        run: |
-          NOW=$(TZ="${{ env.TZ }}" date +%s)
-          TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
-
-          [ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
-
-      - name: Push ${{ env.BRANCH_STAGING }}
-        run: |
-          git push origin "${{ env.BRANCH_STAGING }}" --force
-
-      - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
-        run: |
-          git switch "${{ env.BRANCH_PREVIOUS }}"
-          git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
-          git push origin "${{ env.BRANCH_PREVIOUS }}" --force
-
-      - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
-        run: |
-          git switch "${{ env.BRANCH_FROGPILOT }}"
-          git reset --hard "origin/${{ env.BRANCH_STAGING }}"
-          git push origin "${{ env.BRANCH_FROGPILOT }}" --force
@@ -1,79 +0,0 @@
-name: Update Tinygrad
-
-on:
-  workflow_dispatch:
-    inputs:
-      runner:
-        description: "Select the runner"
-        required: true
-        default: "c3"
-        type: choice
-        options:
-          - c3
-          - c3x
-
-jobs:
-  update_tinygrad:
-    name: Update Tinygrad
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-
-    steps:
-      - name: Get version
-        id: get_version
-        run: |
-          VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
-          echo "VERSION=$VERSION"
-          echo "version=$VERSION" >> "$GITHUB_OUTPUT"
-
-      - name: Clone GitLab repo
-        env:
-          GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
-        run: |
-          rm -rf /data/tmp/frogpilot_tinygrad
-          mkdir -p /data/tmp/frogpilot_tinygrad
-          cd /data/tmp/frogpilot_tinygrad
-
-          git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
-
-      - name: Create Tinygrad Archive
-        run: |
-          set -euo pipefail
-          cd /data/openpilot
-
-          ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
-          ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
-
-          TMPDIR="$(mktemp -d)"
-          touch "$TMPDIR/SConscript"
-
-          tar -czf "$ARCHIVE_NAME" \
-            --exclude="*.a" \
-            --exclude="*.o" \
-            --exclude="*.onnx" \
-            --exclude="*__pycache__*" \
-            --exclude="*tests*" \
-            --exclude="frogpilot/tinygrad_modeld/SConscript" \
-            frogpilot/tinygrad_modeld tinygrad_repo \
-            -C "$TMPDIR" \
-            --transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
-            SConscript
-
-          mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
-          rm -rf "$TMPDIR"
-
-      - name: Push updated Tinygrad
-        run: |
-          cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
-
-          git config user.name "James"
-          git config user.email "91348155+FrogAi@users.noreply.github.com"
-
-          git add Tinygrad_*.tar.gz
-          git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
-          git push origin Tinygrad
-
-      - name: Cleanup temporary files
-        run: |
-          rm -rf /data/tmp/frogpilot_tinygrad
@@ -1,6 +1,4 @@
 venv/
-.venv/
-.ci_cache
 .env
 .clang-format
 .DS_Store
@@ -10,6 +8,7 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
 model2.png
 a.out
 .hypothesis
@@ -40,24 +39,30 @@ compile_commands.json
 compare_runtime*.html

 persist
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
+board/obj/
+selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/translations/alerts_generated.h
-selfdrive/ui/translations/tmp
+selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/car/tests/cars_dump
+selfdrive/visiond/visiond
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

+one
+openpilot
 notebooks
+xx
+yy
 hyperthneed
+panda_jungle
 provisioning

 .coverage*
@@ -73,7 +78,6 @@ comma*.sh

 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
-selfdrive/modeld/models/*.pkl

 *.bz2

@@ -82,4 +86,3 @@ build/
 !**/.gitkeep

 poetry.toml
-Pipfile
@@ -1,21 +0,0 @@
-[submodule "panda"]
-  path = panda
-  url = ../../commaai/panda.git
-[submodule "opendbc"]
-  path = opendbc
-  url = ../../commaai/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = ../../commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = ../../commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = ../../commaai/body.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
@@ -1,103 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
-   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
-   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
-   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
-   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
-   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
-   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
-   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
-   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
-   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
-   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
-    hooks:
-    -   id: check-github-workflows
@@ -1 +0,0 @@
-3.11.4
@@ -1,8 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-  ]
-}
@@ -1,47 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.py",
-        "selfdrive/navd/navd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
-    }
-  ]
-}
@@ -1,27 +0,0 @@
-{
-  "editor.tabSize": 2,
-  "editor.insertSpaces": true,
-  "editor.renderWhitespace": "trailing",
-  "files.trimTrailingWhitespace": true,
-  "search.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "files.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "python.analysis.exclude": [
-    "**/.git",
-    "**/.venv",
-    "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
-  ]
-}
@@ -1,30 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED 1
-
-ENV OPENPILOT_PATH /home/batman/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
-
-RUN scons --cache-readonly -j$(nproc)
@@ -1,82 +0,0 @@
-FROM ubuntu:20.04
-
-ENV PYTHONUNBUFFERED 1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    lsb-core \
-    libx11-6 \
-  && rm -rf /var/lib/apt/lists/*
-
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
-
-RUN dbus-uuidgen > /etc/machine-id
-
-ARG USER=batman
-ARG USER_UID=1000
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
-COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
-
-RUN cd /tmp && \
-    tools/install_python_dependencies.sh && \
-    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -1,63 +1,23 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
+def phone(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'

 set -e

-shopt -s huponexit # kill all child processes when the shell exits
-
 export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n 0"
-

 export GIT_SSH_COMMAND="ssh -i /data/gitkey"

 source ~/.bash_profile
 if [ -f /TICI ]; then
  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
 fi

 ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -72,183 +32,187 @@ END"""
  }
 }

-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
-          retry (3) {
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            device(device_ip, item[0], item[1])
-          }
-        }
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 20, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
      }
    }
  }
 }

-def pcStage(String stageName, Closure body) {
-  node {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
+pipeline {
+  agent none
+  environment {
+    CI = "1"
+    TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
+    MAPBOX_TOKEN = credentials('mapbox_token')
+  }
+  options {
+    timeout(time: 3, unit: 'HOURS')
+    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
+  }
+
+  stages {
+    stage('build release3-staging') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
    }

-    checkout scm
-
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
-
-    def openpilot_base = retryWithDelay (3, 15) {
-      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    stage('build nightly') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'master-ci'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
    }

-    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
-      openpilot_base.inside(dockerArgs) {
-        timeout(time: 20, unit: 'MINUTES') {
-          try {
-            retryWithDelay (3, 15) {
-              sh "git config --global --add safe.directory '*'"
-              sh "git submodule update --init --recursive"
-              sh "git lfs pull"
+    stage('openpilot tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
+          }
+        }
+      }
+
+      parallel {
+
+        /*
+        stage('simulator') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.sim_nvidia'
+              dir 'tools/sim'
+              args '--user=root'
            }
-            body()
-          } finally {
-              sh "rm -rf ${env.WORKSPACE}/* || true"
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --recursive"
+            sh "git lfs pull"
+            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
+              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
+              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
+            }
+          }
+
+          post {
+            always {
+              sh "docker kill carla_sim || true"
+              sh "rm -rf ${WORKSPACE}/* || true"
              sh "rm -rf .* || true"
            }
          }
        }
+        */
+
+        stage('build') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          environment {
+            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+          }
+          steps {
+            phone_steps("tici-needs-can", [
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
+              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+            ])
+          }
+        }
+
+        stage('loopback-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-loopback", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ])
+          }
+        }
+
+        stage('HW + Unit Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-common", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+            ])
+          }
+        }
+
+        stage('camerad-ar') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-ar0231", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
+        stage('camerad-ox') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-ox03c10", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
+        stage('sensord') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-lsmc", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+            ])
+            phone_steps("tici-bmx-lsm", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+            ])
+          }
+        }
+
+        stage('replay') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-common", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
+            ])
+          }
+        }
+
      }
    }
-  }
-}

-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
-  }
-}
-
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master') {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
-      ])
-    }
-
-    if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-      ])
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      // tici tests
-      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
-          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["check dirty", "release/check-dirty.sh"],
-          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          ["test manager", "pytest system/manager/test/test_manager.py"],
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-        ])
-      },
-      'camerad': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-        ])
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
  }
 }
@@ -1,252 +1,145 @@
-<div align="center" style="text-align: center;">
+![](https://i.imgur.com/b0ZyIx5.jpg)

-<h1>openpilot</h1>
+Table of Contents
+=======================

-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 300+ supported cars.
-</p>
+* [What is openpilot?](#what-is-openpilot)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
+* [Directory Structure](#directory-structure)
+* [Licensing](#licensing)

-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
+---

-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+What is openpilot?
+------

-[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-
-</div>
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).

 <table>
  <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
-    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
  </tr>
 </table>


-Using openpilot in a car
+Running on a dedicated device in a car
 ------

-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+To use openpilot in a car, you need four things
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
+The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
+* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.

-We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

+Running on PC
 ------

-<div align="center" style="text-align: center;">
+All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.

-<h1>FrogPilot 🐸</h1>
+With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.

-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
-[![Last Updated](https://img.shields.io/badge/Last%20Updated-August%209th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
-[![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.

-</div>
+A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).

+Community and Contributing
 ------

-**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).

-openpilot vs **FrogPilot**
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
+
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+User Data and comma Account
 ------

-#### Community
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| A Welcoming Community | ❌ | ✅ |
-| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.

-#### Core Features
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Always On Lateral (Steering) | ❌ | ✅ |
-| Blind Spot Integration | ✅ | ✅ |
-| Conditional Experimental Mode | ❌ | ✅ |
-| Custom Themes | ❌ | ✅ |
-| Driver Monitoring | ✅ | ✅ |
-| Driving Model Selector | ❌ | ✅ |
-| Holiday Themes | ❌ | ✅ |
-| Speed Limit Support | ❌ | ✅ |
-| Weather Detection | ❌ | ✅ |
+openpilot is open source software: the user is free to disable data collection if they wish to do so.

-#### Device & Hardware
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Volume Controller | ❌ | ✅ |
-| Automatic Version Backups | ❌ | ✅ |
-| C3 Support | ❌ | ✅ |
-| comma Pedal Support | ❌ | ✅ |
-| High Quality Recordings | ❌ | ✅ |
-| SDSU Support | ❌ | ✅ |
-| ZSS Support | ❌ | ✅ |
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

-#### Gas/Brake
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Adaptive Cruise Control (ACC) | ✅ | ✅ |
-| Advanced Live Tuning | ❌ | ✅ |
-| Custom Following Distances | ❌ | ✅ |
-| Faster Human-Like Acceleration | ❌ | ✅ |
-| Human-Like Speed Control in Curves | ❌ | ✅ |
-| Smoother Human-Like Braking | ❌ | ✅ |
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

-#### Steering
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Live Tuning | ❌ | ✅ |
-| Automatic Lane Changes | ❌ | ✅ |
-| Increased Steering Torque* | ❌ | ✅ |
-| Lane Centering (LKAS) | ✅ | ✅ |
-| Lane Change Assist | ✅ | ✅ |
+Safety and Testing
+----

-*Select vehicles only
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

-And much much more!
+Directory Structure
+------
+    .
+    ├── cereal              # The messaging spec and libs used for all logs
+    ├── common              # Library like functionality we've developed here
+    ├── docs                # Documentation
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN
+    ├── third_party         # External libraries
+    └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
+        ├── logcatd         # systemd journal as a service
+        └── proclogd        # Logs information from /proc
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts, images, and sounds for UI
+        ├── athena          # Allows communication with the app
+        ├── boardd          # Daemon to talk to the board
+        ├── car             # Car specific code to read states and control actuators
+        ├── controls        # Planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Daemon that starts/stops all other daemons as needed
+        ├── modeld          # Driving and monitoring model runners
+        ├── monitoring      # Daemon to determine driver attention
+        ├── navd            # Turn-by-turn navigation
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
+        └── ui              # The UI

-🌟 Highlight Features
+Licensing
 ------

-### 🚗 Always On Lateral (AOL)
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

-With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**

 ---

-### 🧠 Conditional Experimental Mode (CEM)
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>

-**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
-
-**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
- Approaching curves and turns
- Detecting slower or stopped lead vehicles
- Driving below a set speed
- Predicting an upcoming stop (e.g. stoplight or stop sign)
-
-Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
-
-**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
-
---
-
-### 🎭 Driving Personalities
-
-With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
-
- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays  
- **Aggressive:** Aimed to provide tighter following distances and quicker reactions  
- **Standard:** Useful for a balanced, all-purpose driving  
- **Relaxed:** A smoother driving experience with larger following distance gaps  
-
-Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
-
---
-
-### 📏 Speed Limit Controller (SLC)
-
-With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
-
-Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
-
-Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
-
-**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
-
---
-
-### 🎨 Themes
-
-With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
-
- **Color Schemes**
- **Icon Packs**
- **Sound Packs**
- **Turn Signal Animations**
- **Steering Wheel Icons**
-
-Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
-
---
-
-And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
-
---
-
-🔧 Branches
------
-| Branch                     | Install&nbsp;URL          | Description                                            | Recommended&nbsp;For     |
-|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
-| FrogPilot                  | frogpilot.download        | The main release branch.                               | Everyone                 |
-| FrogPilot&#8209;Staging    | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs!       | Early&nbsp;Adopters      |
-| FrogPilot&#8209;Testing    | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced&nbsp;Testers    |
-| FrogPilot&#8209;Development| No :)                     | Active development branch. Don't use!                  | **FrogPilot**&nbsp;Developers|
-| MAKE&#8209;PRS&#8209;HERE  | No :)                     | Workspace for pull requests. Don't use!                | Contributors             |
-
-🧰 How to Install
------
-
-The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
-
-```
-frogpilot.download
-```
-
-**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
-
-![](https://i.imgur.com/LTCqRqB.png)
-
-🐞 Bug Reports / Feature Requests
------
-
-If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
-
-To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).  
-To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).  
-
-Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
-
-I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
-
-📋 Credits
------
-
-* [Aidenir](https://github.com/Aidenir)
-* [AlexandreSato](https://github.com/AlexandreSato)
-* [cfranyota](https://github.com/cfranyota)
-* [cydia2020](https://github.com/cydia2020)
-* [dragonpilot-community](https://github.com/dragonpilot-community)
-* [ErichMoraga](https://github.com/ErichMoraga)
-* [garrettpall](https://github.com/garrettpall)
-* [jakethesnake420](https://github.com/jakethesnake420)
-* [jyoung8607](https://github.com/jyoung8607)
-* [mike8643](https://github.com/mike8643)
-* [neokii](https://github.com/neokii)
-* [OPGM](https://github.com/opgm)
-* [OPKR](https://github.com/openpilotkr)
-* [pfeiferj](https://github.com/pfeiferj)
-* [realfast](https://github.com/realfast)
-* [syncword](https://github.com/syncword)
-* [twilsonco](https://github.com/twilsonco)
-
-Star History
------
-
-[![Star History Chart](https://api.star-history.com/svg?repos=FrogAi/FrogPilot&type=Date)](https://www.star-history.com/#FrogAi/FrogPilot&Date)
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,113 +1,3 @@
-Version 0.9.7 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-
-Version 0.9.6 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* Model path UI
-  * Shows where driving model wants to be
-  * Shows what model is seeing more clearly, but more jittery
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-
-Version 0.9.5 (2023-11-17)
-========================
-* New driving model
-  * Improved navigate on openpilot performance using navigation instructions as an additional model input
-  * Do lateral planning inside the model
-  * New vision transformer architecture
-* Cadillac Escalade ESV 2019 support thanks to twilsonco!
-* Hyundai Azera 2022 support thanks to sunnyhaibin!
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
-* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
-* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
-* Kia Optima Hybrid 2019 support
-* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
-* Lexus GS F 2016 support thanks to snyperifle!
-* Lexus IS 2023 support thanks to L3R5!
-
-Version 0.9.4 (2023-07-27)
-========================
-* comma 3X support
-* Navigate on openpilot in Experimental mode
-  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
-  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
-  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
-  * When navigate on openpilot is active, the path on the map is green
-* UI updates
-  * Navigation settings moved to home screen and map
-  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
-  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
-* Bookmarked segments are preserved on the device's storage
-* Ford Focus 2018 support
-* Kia Carnival 2023 support thanks to sunnyhaibin!
-
-Version 0.9.3 (2023-06-29)
-========================
-* New driving model
-  * Improved height estimation and added height tracking in liveCalibration
-  * Model inputs refactor
-* New driving personality setting
-  * Three settings: aggressive, standard, and relaxed
-  * Standard is recommended and the default
-  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
-  * In relaxed mode, lead follow distance is longer
-* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
-* Improved thermal management logic
-
-Version 0.9.2 (2023-05-22)
-========================
-* New driving model
-  * Reduced turn diving
-  * Trained on a new dataset
-* UI updates
-  * New experimental mode visualization
-  * Draw MPC path instead of model-predicted path
-* AGNOS 7
-  * Faster boot time
-  * Fixes rare no sounds bug
-  * Fixes bootsplash bug at extreme temperatures
-* Buick LaCrosse 2017-19 support thanks to koch-cf!
-* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
-* Ford Bronco Sport 2021-22 support
-* Ford Escape 2020-22 support
-* Ford Explorer 2020-22 support
-* Ford Kuga 2020-22 support
-* Ford Maverick 2022-23 support
-* Genesis GV80 2023 support thanks to JWingate80!
-* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
-* Kia Niro EV 2023 support thanks to JosselinLecocq!
-* Lexus ES 2017-18 support
-* Lincoln Aviator 2021 support
-* Škoda Fabia 2022-23 support thanks to jyoung8607!
-
-
 Version 0.9.1 (2023-02-28)
 ========================
 * New driving model
@@ -639,7 +529,7 @@ Version 0.5.13 (2019-05-31)
 * Reduce CPU utilization by 20% and improve stability
 * Temporarily remove mapd functionalities to improve stability
 * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to pandad to reduce latency
+ * Synchronize controlsd to boardd to reduce latency
 * Remove panda support for Subaru giraffe

 Version 0.5.12 (2019-05-16)
@@ -975,7 +865,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
 * Better performance and pictures at night
- * Fix ptr alignment issue in pandad
+ * Fix ptr alignment issue in boardd
 * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
@@ -1007,7 +897,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
 * Performance improvements, removal of more numpy
- * Fix pandad process priority
+ * Fix boardd process priority
 * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
@@ -5,19 +5,14 @@ import sysconfig
 import platform
 import numpy as np

-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI

 Decider('MD5-timestamp')

-SetOption('num_jobs', int(os.cpu_count()/2))
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')

 AddOption('--kaitai',
          action='store_true',
@@ -31,10 +26,6 @@ AddOption('--ubsan',
          action='store_true',
          help='turn on UBSan')

-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
 AddOption('--clazy',
          action='store_true',
          help='build with clazy')
@@ -43,12 +34,6 @@ AddOption('--compile_db',
          action='store_true',
          help='build clang compilation database')

-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
 AddOption('--snpe',
          action='store_true',
          help='use SNPE on PC')
@@ -59,36 +44,36 @@ AddOption('--external-sconscript',
          dest='external_sconscript',
          help='add an external SConscript to the build')

+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
 AddOption('--pc-thneed',
          action='store_true',
          dest='pc_thneed',
          help='use thneed on pc')

-AddOption('--minimal',
+AddOption('--no-test',
          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
+          dest='test',
+          default=os.path.islink(Dir('#laika/').abspath),
+          help='skip building test files')

-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
+
+if arch == "aarch64" and AGNOS:
  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+

 lenv = {
  "PATH": os.environ['PATH'],
  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+  "PYTHONPATH": Dir("#").abspath,

-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
@@ -96,6 +81,8 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()

 if arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
  cpppath = [
    "#third_party/opencl/include",
  ]
@@ -119,41 +106,51 @@ else:
  cflags = []
  cxxflags = []
  cpppath = []
-  rpath += []

  # MacOS
  if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{yuv_dir}/lib",
      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/Cellar",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")

    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += [
      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
+      f"{brew_prefix}/opt/openssl/include",
    ]
-    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
-  # Linux
+  # Linux 86_64
  else:
    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
+      "#cereal",
+      "#common",
      "/usr/lib",
      "/usr/local/lib",
    ]

-    if arch == "x86_64":
-      libpath += [
-        f"#third_party/snpe/{arch}"
-      ]
-      rpath += [
-        Dir(f"#third_party/snpe/{arch}").abspath,
-      ]
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]

 if GetOption('asan'):
  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -173,10 +170,6 @@ if arch != "Darwin":
 cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']

-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
-
 env = Environment(
  ENV=lenv,
  CCFLAGS=[
@@ -193,7 +186,6 @@ env = Environment(
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-error=unused-but-set-variable",
-    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,

  CPPPATH=cpppath + [
@@ -204,15 +196,14 @@ env = Environment(
    "#third_party/catch2/include",
    "#third_party/libyuv/include",
    "#third_party/json11",
+    "#third_party/curl/include",
    "#third_party/linux/include",
    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
    "#third_party/qrcode",
    "#third_party",
    "#cereal",
-    "#msgq",
    "#opendbc/can",
-    "#third_party/maplibre-native-qt/include",
-    f"#third_party/maplibre-native-qt/{arch}/include"
  ],

  CC='clang',
@@ -224,23 +215,19 @@ env = Environment(
  CFLAGS=["-std=gnu11"] + cflags,
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
-    "#msgq_repo",
+    "#cereal",
    "#third_party",
-    "#selfdrive/pandad",
+    "#opendbc/can",
+    "#selfdrive/boardd",
    "#common",
-    "#rednose/helpers",
  ],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  tools=["default", "cython", "compilation_db"],
 )

 if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
+  env['RPATHPREFIX'] = "-rpath "

 if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')
@@ -260,16 +247,30 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)

+SHARED = False
+
+# TODO: this can probably be removed
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

@@ -281,7 +282,10 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "

 qt_libs = []
 if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
  qt_dirs = [
    os.path.join(qt_env['QTDIR'], "include"),
  ]
@@ -296,11 +300,8 @@ else:
  qt_env['QTDIR'] = qt_install_prefix
  qt_dirs = [
    f"{qt_install_headers}",
+    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]

  qt_libs = [f"Qt5{m}" for m in qt_modules]
@@ -309,15 +310,9 @@ else:
    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
  elif arch != "Darwin":
    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']

-# compatibility for older SCons versions
-try:
-  qt_env.Tool('qt3')
-except SCons.Errors.UserError:
-  qt_env.Tool('qt')
-
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
  "-D_REENTRANT",
  "-DQT_NO_DEBUG",
@@ -330,9 +325,9 @@ qt_flags = [
  "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
-qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'

 if GetOption("clazy"):
  checks = [
@@ -345,59 +340,103 @@ if GetOption("clazy"):
  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)

-Export('env', 'qt_env', 'arch', 'real_arch')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')

-# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')

-common = [_common, 'json11']
-gpucommon = [_gpucommon]
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon]

 Export('common', 'gpucommon')

-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
+# cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
-Export('messaging')
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]

+Export('cereal', 'messaging', 'visionipc')

-# Build other submodules
-SConscript([
-  'body/board/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
+# Build rednose library and ekf models

-# Build rednose library
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
+  },
+}
+
+if arch != "larch64":
+  rednose_config['to_build'].update({
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+  })
+
+Export('rednose_config')
 SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
+  'system/camerad/SConscript',
+  'system/clocksd/SConscript',
  'system/proclogd/SConscript',
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript([
-    'system/sensord/SConscript',
-    'system/logcatd/SConscript',
-  ])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+  SConscript(['system/logcatd/SConscript'])

 # Build openpilot
+
+# build submodules
+SConscript([
+  'body/board/SConscript',
+  'cereal/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
+
 SConscript(['third_party/SConscript'])

-SConscript(['selfdrive/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])

-if Dir('#tools/cabana/').exists() and GetOption('extras'):
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+
+  opendbc = abspath([File('opendbc/can/libdbc.so')])
+  Export('opendbc')
+  SConscript(['tools/cabana/SConscript'])

 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
@@ -1,50 +0,0 @@
-name: tests
-on: [push, pull_request]
-
-env:
-  RUN: docker run --rm body /bin/bash -c
-  PERSIST: docker run --name body body /bin/sh -c
-  BUILD: |
-      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
-      docker pull ghcr.io/commaai/body:latest || true
-      docker build --cache-from ghcr.io/commaai/body:latest -t body -f Dockerfile .
-
-jobs:
-  docker_push:
-    name: docker push
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/body'
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Login to dockerhub
-        run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-      - name: Tag image
-        run: docker tag body ghcr.io/commaai/body:latest
-      - name: Push image
-        run: docker push ghcr.io/commaai/body:latest
-
-  build:
-    name: build
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Build firmware
-        run: $RUN "cd /tmp/openpilot/body && scons"
-
-  python_linter:
-    name: python linter
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Run static analysis
-        run: |
-          $RUN "cd /tmp/openpilot/body && git init && git add -A && pre-commit run --all"
@@ -1,20 +0,0 @@
-repos:
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
-    hooks:
-    -   id: check-ast
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.4.0
-    hooks:
-    -   id: mypy
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl']
-   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.282
-    hooks:
-    - id: ruff
@@ -1,36 +0,0 @@
-FROM ubuntu:24.04
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    automake \
-    ca-certificates \
-    clang \
-    curl \
-    g++ \
-    gcc-arm-none-eabi libnewlib-arm-none-eabi \
-    git \
-    libtool \
-    libssl-dev \
-    libsqlite3-dev \
-    libffi-dev \
-    locales \
-    make \
-    patch \
-    pkg-config \
-    python3-pip \
-    zlib1g-dev \
- && rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY requirements.txt /tmp/
-RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
-
-COPY . /tmp/openpilot/body
-RUN rm -rf /tmp/openpilot/body/.git
@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received.  You must make sure that they, too, receive
-or can get the source code.  And you must show them these terms so they
-know their rights.
-
-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
-
-  For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software.  For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
-  Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so.  This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software.  The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable.  Therefore, we
-have designed this version of the GPL to prohibit the practice for those
-products.  If such problems arise substantially in other domains, we
-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
-  Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
-make it effectively proprietary.  To prevent this, the GPL assures that
-patents cannot be used to render the program non-free.
-
-  The precise terms and conditions for copying, distribution and
-modification follow.
-
-                       TERMS AND CONDITIONS
-
-  0. Definitions.
-
-  "This License" refers to version 3 of the GNU General Public License.
-
-  "Copyright" also means copyright-like laws that apply to other kinds of
-works, such as semiconductor masks.
-
-  "The Program" refers to any copyrightable work licensed under this
-License.  Each licensee is addressed as "you".  "Licensees" and
-"recipients" may be individuals or organizations.
-
-  To "modify" a work means to copy from or adapt all or part of the work
-in a fashion requiring copyright permission, other than the making of an
-exact copy.  The resulting work is called a "modified version" of the
-earlier work or a work "based on" the earlier work.
-
-  A "covered work" means either the unmodified Program or a work based
-on the Program.
-
-  To "propagate" a work means to do anything with it that, without
-permission, would make you directly or secondarily liable for
-infringement under applicable copyright law, except executing it on a
-computer or modifying a private copy.  Propagation includes copying,
-distribution (with or without modification), making available to the
-public, and in some countries other activities as well.
-
-  To "convey" a work means any kind of propagation that enables other
-parties to make or receive copies.  Mere interaction with a user through
-a computer network, with no transfer of a copy, is not conveying.
-
-  An interactive user interface displays "Appropriate Legal Notices"
-to the extent that it includes a convenient and prominently visible
-feature that (1) displays an appropriate copyright notice, and (2)
-tells the user that there is no warranty for the work (except to the
-extent that warranties are provided), that licensees may convey the
-work under this License, and how to view a copy of this License.  If
-the interface presents a list of user commands or options, such as a
-menu, a prominent item in the list meets this criterion.
-
-  1. Source Code.
-
-  The "source code" for a work means the preferred form of the work
-for making modifications to it.  "Object code" means any non-source
-form of a work.
-
-  A "Standard Interface" means an interface that either is an official
-standard defined by a recognized standards body, or, in the case of
-interfaces specified for a particular programming language, one that
-is widely used among developers working in that language.
-
-  The "System Libraries" of an executable work include anything, other
-than the work as a whole, that (a) is included in the normal form of
-packaging a Major Component, but which is not part of that Major
-Component, and (b) serves only to enable use of the work with that
-Major Component, or to implement a Standard Interface for which an
-implementation is available to the public in source code form.  A
-"Major Component", in this context, means a major essential component
-(kernel, window system, and so on) of the specific operating system
-(if any) on which the executable work runs, or a compiler used to
-produce the work, or an object code interpreter used to run it.
-
-  The "Corresponding Source" for a work in object code form means all
-the source code needed to generate, install, and (for an executable
-work) run the object code and to modify the work, including scripts to
-control those activities.  However, it does not include the work's
-System Libraries, or general-purpose tools or generally available free
-programs which are used unmodified in performing those activities but
-which are not part of the work.  For example, Corresponding Source
-includes interface definition files associated with source files for
-the work, and the source code for shared libraries and dynamically
-linked subprograms that the work is specifically designed to require,
-such as by intimate data communication or control flow between those
-subprograms and other parts of the work.
-
-  The Corresponding Source need not include anything that users
-can regenerate automatically from other parts of the Corresponding
-Source.
-
-  The Corresponding Source for a work in source code form is that
-same work.
-
-  2. Basic Permissions.
-
-  All rights granted under this License are granted for the term of
-copyright on the Program, and are irrevocable provided the stated
-conditions are met.  This License explicitly affirms your unlimited
-permission to run the unmodified Program.  The output from running a
-covered work is covered by this License only if the output, given its
-content, constitutes a covered work.  This License acknowledges your
-rights of fair use or other equivalent, as provided by copyright law.
-
-  You may make, run and propagate covered works that you do not
-convey, without conditions so long as your license otherwise remains
-in force.  You may convey covered works to others for the sole purpose
-of having them make modifications exclusively for you, or provide you
-with facilities for running those works, provided that you comply with
-the terms of this License in conveying all material for which you do
-not control copyright.  Those thus making or running the covered works
-for you must do so exclusively on your behalf, under your direction
-and control, on terms that prohibit them from making any copies of
-your copyrighted material outside their relationship with you.
-
-  Conveying under any other circumstances is permitted solely under
-the conditions stated below.  Sublicensing is not allowed; section 10
-makes it unnecessary.
-
-  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
-
-  No covered work shall be deemed part of an effective technological
-measure under any applicable law fulfilling obligations under article
-11 of the WIPO copyright treaty adopted on 20 December 1996, or
-similar laws prohibiting or restricting circumvention of such
-measures.
-
-  When you convey a covered work, you waive any legal power to forbid
-circumvention of technological measures to the extent such circumvention
-is effected by exercising rights under this License with respect to
-the covered work, and you disclaim any intention to limit operation or
-modification of the work as a means of enforcing, against the work's
-users, your or third parties' legal rights to forbid circumvention of
-technological measures.
-
-  4. Conveying Verbatim Copies.
-
-  You may convey verbatim copies of the Program's source code as you
-receive it, in any medium, provided that you conspicuously and
-appropriately publish on each copy an appropriate copyright notice;
-keep intact all notices stating that this License and any
-non-permissive terms added in accord with section 7 apply to the code;
-keep intact all notices of the absence of any warranty; and give all
-recipients a copy of this License along with the Program.
-
-  You may charge any price or no price for each copy that you convey,
-and you may offer support or warranty protection for a fee.
-
-  5. Conveying Modified Source Versions.
-
-  You may convey a work based on the Program, or the modifications to
-produce it from the Program, in the form of source code under the
-terms of section 4, provided that you also meet all of these conditions:
-
-    a) The work must carry prominent notices stating that you modified
-    it, and giving a relevant date.
-
-    b) The work must carry prominent notices stating that it is
-    released under this License and any conditions added under section
-    7.  This requirement modifies the requirement in section 4 to
-    "keep intact all notices".
-
-    c) You must license the entire work, as a whole, under this
-    License to anyone who comes into possession of a copy.  This
-    License will therefore apply, along with any applicable section 7
-    additional terms, to the whole of the work, and all its parts,
-    regardless of how they are packaged.  This License gives no
-    permission to license the work in any other way, but it does not
-    invalidate such permission if you have separately received it.
-
-    d) If the work has interactive user interfaces, each must display
-    Appropriate Legal Notices; however, if the Program has interactive
-    interfaces that do not display Appropriate Legal Notices, your
-    work need not make them do so.
-
-  A compilation of a covered work with other separate and independent
-works, which are not by their nature extensions of the covered work,
-and which are not combined with it such as to form a larger program,
-in or on a volume of a storage or distribution medium, is called an
-"aggregate" if the compilation and its resulting copyright are not
-used to limit the access or legal rights of the compilation's users
-beyond what the individual works permit.  Inclusion of a covered work
-in an aggregate does not cause this License to apply to the other
-parts of the aggregate.
-
-  6. Conveying Non-Source Forms.
-
-  You may convey a covered work in object code form under the terms
-of sections 4 and 5, provided that you also convey the
-machine-readable Corresponding Source under the terms of this License,
-in one of these ways:
-
-    a) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by the
-    Corresponding Source fixed on a durable physical medium
-    customarily used for software interchange.
-
-    b) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by a
-    written offer, valid for at least three years and valid for as
-    long as you offer spare parts or customer support for that product
-    model, to give anyone who possesses the object code either (1) a
-    copy of the Corresponding Source for all the software in the
-    product that is covered by this License, on a durable physical
-    medium customarily used for software interchange, for a price no
-    more than your reasonable cost of physically performing this
-    conveying of source, or (2) access to copy the
-    Corresponding Source from a network server at no charge.
-
-    c) Convey individual copies of the object code with a copy of the
-    written offer to provide the Corresponding Source.  This
-    alternative is allowed only occasionally and noncommercially, and
-    only if you received the object code with such an offer, in accord
-    with subsection 6b.
-
-    d) Convey the object code by offering access from a designated
-    place (gratis or for a charge), and offer equivalent access to the
-    Corresponding Source in the same way through the same place at no
-    further charge.  You need not require recipients to copy the
-    Corresponding Source along with the object code.  If the place to
-    copy the object code is a network server, the Corresponding Source
-    may be on a different server (operated by you or a third party)
-    that supports equivalent copying facilities, provided you maintain
-    clear directions next to the object code saying where to find the
-    Corresponding Source.  Regardless of what server hosts the
-    Corresponding Source, you remain obligated to ensure that it is
-    available for as long as needed to satisfy these requirements.
-
-    e) Convey the object code using peer-to-peer transmission, provided
-    you inform other peers where the object code and Corresponding
-    Source of the work are being offered to the general public at no
-    charge under subsection 6d.
-
-  A separable portion of the object code, whose source code is excluded
-from the Corresponding Source as a System Library, need not be
-included in conveying the object code work.
-
-  A "User Product" is either (1) a "consumer product", which means any
-tangible personal property which is normally used for personal, family,
-or household purposes, or (2) anything designed or sold for incorporation
-into a dwelling.  In determining whether a product is a consumer product,
-doubtful cases shall be resolved in favor of coverage.  For a particular
-product received by a particular user, "normally used" refers to a
-typical or common use of that class of product, regardless of the status
-of the particular user or of the way in which the particular user
-actually uses, or expects or is expected to use, the product.  A product
-is a consumer product regardless of whether the product has substantial
-commercial, industrial or non-consumer uses, unless such uses represent
-the only significant mode of use of the product.
-
-  "Installation Information" for a User Product means any methods,
-procedures, authorization keys, or other information required to install
-and execute modified versions of a covered work in that User Product from
-a modified version of its Corresponding Source.  The information must
-suffice to ensure that the continued functioning of the modified object
-code is in no case prevented or interfered with solely because
-modification has been made.
-
-  If you convey an object code work under this section in, or with, or
-specifically for use in, a User Product, and the conveying occurs as
-part of a transaction in which the right of possession and use of the
-User Product is transferred to the recipient in perpetuity or for a
-fixed term (regardless of how the transaction is characterized), the
-Corresponding Source conveyed under this section must be accompanied
-by the Installation Information.  But this requirement does not apply
-if neither you nor any third party retains the ability to install
-modified object code on the User Product (for example, the work has
-been installed in ROM).
-
-  The requirement to provide Installation Information does not include a
-requirement to continue to provide support service, warranty, or updates
-for a work that has been modified or installed by the recipient, or for
-the User Product in which it has been modified or installed.  Access to a
-network may be denied when the modification itself materially and
-adversely affects the operation of the network or violates the rules and
-protocols for communication across the network.
-
-  Corresponding Source conveyed, and Installation Information provided,
-in accord with this section must be in a format that is publicly
-documented (and with an implementation available to the public in
-source code form), and must require no special password or key for
-unpacking, reading or copying.
-
-  7. Additional Terms.
-
-  "Additional permissions" are terms that supplement the terms of this
-License by making exceptions from one or more of its conditions.
-Additional permissions that are applicable to the entire Program shall
-be treated as though they were included in this License, to the extent
-that they are valid under applicable law.  If additional permissions
-apply only to part of the Program, that part may be used separately
-under those permissions, but the entire Program remains governed by
-this License without regard to the additional permissions.
-
-  When you convey a copy of a covered work, you may at your option
-remove any additional permissions from that copy, or from any part of
-it.  (Additional permissions may be written to require their own
-removal in certain cases when you modify the work.)  You may place
-additional permissions on material, added by you to a covered work,
-for which you have or can give appropriate copyright permission.
-
-  Notwithstanding any other provision of this License, for material you
-add to a covered work, you may (if authorized by the copyright holders of
-that material) supplement the terms of this License with terms:
-
-    a) Disclaiming warranty or limiting liability differently from the
-    terms of sections 15 and 16 of this License; or
-
-    b) Requiring preservation of specified reasonable legal notices or
-    author attributions in that material or in the Appropriate Legal
-    Notices displayed by works containing it; or
-
-    c) Prohibiting misrepresentation of the origin of that material, or
-    requiring that modified versions of such material be marked in
-    reasonable ways as different from the original version; or
-
-    d) Limiting the use for publicity purposes of names of licensors or
-    authors of the material; or
-
-    e) Declining to grant rights under trademark law for use of some
-    trade names, trademarks, or service marks; or
-
-    f) Requiring indemnification of licensors and authors of that
-    material by anyone who conveys the material (or modified versions of
-    it) with contractual assumptions of liability to the recipient, for
-    any liability that these contractual assumptions directly impose on
-    those licensors and authors.
-
-  All other non-permissive additional terms are considered "further
-restrictions" within the meaning of section 10.  If the Program as you
-received it, or any part of it, contains a notice stating that it is
-governed by this License along with a term that is a further
-restriction, you may remove that term.  If a license document contains
-a further restriction but permits relicensing or conveying under this
-License, you may add to a covered work material governed by the terms
-of that license document, provided that the further restriction does
-not survive such relicensing or conveying.
-
-  If you add terms to a covered work in accord with this section, you
-must place, in the relevant source files, a statement of the
-additional terms that apply to those files, or a notice indicating
-where to find the applicable terms.
-
-  Additional terms, permissive or non-permissive, may be stated in the
-form of a separately written license, or stated as exceptions;
-the above requirements apply either way.
-
-  8. Termination.
-
-  You may not propagate or modify a covered work except as expressly
-provided under this License.  Any attempt otherwise to propagate or
-modify it is void, and will automatically terminate your rights under
-this License (including any patent licenses granted under the third
-paragraph of section 11).
-
-  However, if you cease all violation of this License, then your
-license from a particular copyright holder is reinstated (a)
-provisionally, unless and until the copyright holder explicitly and
-finally terminates your license, and (b) permanently, if the copyright
-holder fails to notify you of the violation by some reasonable means
-prior to 60 days after the cessation.
-
-  Moreover, your license from a particular copyright holder is
-reinstated permanently if the copyright holder notifies you of the
-violation by some reasonable means, this is the first time you have
-received notice of violation of this License (for any work) from that
-copyright holder, and you cure the violation prior to 30 days after
-your receipt of the notice.
-
-  Termination of your rights under this section does not terminate the
-licenses of parties who have received copies or rights from you under
-this License.  If your rights have been terminated and not permanently
-reinstated, you do not qualify to receive new licenses for the same
-material under section 10.
-
-  9. Acceptance Not Required for Having Copies.
-
-  You are not required to accept this License in order to receive or
-run a copy of the Program.  Ancillary propagation of a covered work
-occurring solely as a consequence of using peer-to-peer transmission
-to receive a copy likewise does not require acceptance.  However,
-nothing other than this License grants you permission to propagate or
-modify any covered work.  These actions infringe copyright if you do
-not accept this License.  Therefore, by modifying or propagating a
-covered work, you indicate your acceptance of this License to do so.
-
-  10. Automatic Licensing of Downstream Recipients.
-
-  Each time you convey a covered work, the recipient automatically
-receives a license from the original licensors, to run, modify and
-propagate that work, subject to this License.  You are not responsible
-for enforcing compliance by third parties with this License.
-
-  An "entity transaction" is a transaction transferring control of an
-organization, or substantially all assets of one, or subdividing an
-organization, or merging organizations.  If propagation of a covered
-work results from an entity transaction, each party to that
-transaction who receives a copy of the work also receives whatever
-licenses to the work the party's predecessor in interest had or could
-give under the previous paragraph, plus a right to possession of the
-Corresponding Source of the work from the predecessor in interest, if
-the predecessor has it or can get it with reasonable efforts.
-
-  You may not impose any further restrictions on the exercise of the
-rights granted or affirmed under this License.  For example, you may
-not impose a license fee, royalty, or other charge for exercise of
-rights granted under this License, and you may not initiate litigation
-(including a cross-claim or counterclaim in a lawsuit) alleging that
-any patent claim is infringed by making, using, selling, offering for
-sale, or importing the Program or any portion of it.
-
-  11. Patents.
-
-  A "contributor" is a copyright holder who authorizes use under this
-License of the Program or a work on which the Program is based.  The
-work thus licensed is called the contributor's "contributor version".
-
-  A contributor's "essential patent claims" are all patent claims
-owned or controlled by the contributor, whether already acquired or
-hereafter acquired, that would be infringed by some manner, permitted
-by this License, of making, using, or selling its contributor version,
-but do not include claims that would be infringed only as a
-consequence of further modification of the contributor version.  For
-purposes of this definition, "control" includes the right to grant
-patent sublicenses in a manner consistent with the requirements of
-this License.
-
-  Each contributor grants you a non-exclusive, worldwide, royalty-free
-patent license under the contributor's essential patent claims, to
-make, use, sell, offer for sale, import and otherwise run, modify and
-propagate the contents of its contributor version.
-
-  In the following three paragraphs, a "patent license" is any express
-agreement or commitment, however denominated, not to enforce a patent
-(such as an express permission to practice a patent or covenant not to
-sue for patent infringement).  To "grant" such a patent license to a
-party means to make such an agreement or commitment not to enforce a
-patent against the party.
-
-  If you convey a covered work, knowingly relying on a patent license,
-and the Corresponding Source of the work is not available for anyone
-to copy, free of charge and under the terms of this License, through a
-publicly available network server or other readily accessible means,
-then you must either (1) cause the Corresponding Source to be so
-available, or (2) arrange to deprive yourself of the benefit of the
-patent license for this particular work, or (3) arrange, in a manner
-consistent with the requirements of this License, to extend the patent
-license to downstream recipients.  "Knowingly relying" means you have
-actual knowledge that, but for the patent license, your conveying the
-covered work in a country, or your recipient's use of the covered work
-in a country, would infringe one or more identifiable patents in that
-country that you have reason to believe are valid.
-
-  If, pursuant to or in connection with a single transaction or
-arrangement, you convey, or propagate by procuring conveyance of, a
-covered work, and grant a patent license to some of the parties
-receiving the covered work authorizing them to use, propagate, modify
-or convey a specific copy of the covered work, then the patent license
-you grant is automatically extended to all recipients of the covered
-work and works based on it.
-
-  A patent license is "discriminatory" if it does not include within
-the scope of its coverage, prohibits the exercise of, or is
-conditioned on the non-exercise of one or more of the rights that are
-specifically granted under this License.  You may not convey a covered
-work if you are a party to an arrangement with a third party that is
-in the business of distributing software, under which you make payment
-to the third party based on the extent of your activity of conveying
-the work, and under which the third party grants, to any of the
-parties who would receive the covered work from you, a discriminatory
-patent license (a) in connection with copies of the covered work
-conveyed by you (or copies made from those copies), or (b) primarily
-for and in connection with specific products or compilations that
-contain the covered work, unless you entered into that arrangement,
-or that patent license was granted, prior to 28 March 2007.
-
-  Nothing in this License shall be construed as excluding or limiting
-any implied license or other defenses to infringement that may
-otherwise be available to you under applicable patent law.
-
-  12. No Surrender of Others' Freedom.
-
-  If conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License.  If you cannot convey a
-covered work so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you may
-not convey it at all.  For example, if you agree to terms that obligate you
-to collect a royalty for further conveying from those to whom you convey
-the Program, the only way you could satisfy both those terms and this
-License would be to refrain entirely from conveying the Program.
-
-  13. Use with the GNU Affero General Public License.
-
-  Notwithstanding any other provision of this License, you have
-permission to link or combine any covered work with a work licensed
-under version 3 of the GNU Affero General Public License into a single
-combined work, and to convey the resulting work.  The terms of this
-License will continue to apply to the part which is the covered work,
-but the special requirements of the GNU Affero General Public License,
-section 13, concerning interaction through a network will apply to the
-combination as such.
-
-  14. Revised Versions of this License.
-
-  The Free Software Foundation may publish revised and/or new versions of
-the GNU General Public License from time to time.  Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-  Each version is given a distinguishing version number.  If the
-Program specifies that a certain numbered version of the GNU General
-Public License "or any later version" applies to it, you have the
-option of following the terms and conditions either of that numbered
-version or of any later version published by the Free Software
-Foundation.  If the Program does not specify a version number of the
-GNU General Public License, you may choose any version ever published
-by the Free Software Foundation.
-
-  If the Program specifies that a proxy can decide which future
-versions of the GNU General Public License can be used, that proxy's
-public statement of acceptance of a version permanently authorizes you
-to choose that version for the Program.
-
-  Later license versions may give you additional or different
-permissions.  However, no additional obligations are imposed on any
-author or copyright holder as a result of your choosing to follow a
-later version.
-
-  15. Disclaimer of Warranty.
-
-  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
-APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
-HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
-OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
-IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
-ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
-
-  16. Limitation of Liability.
-
-  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
-THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
-GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
-USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
-DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
-PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
-EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGES.
-
-  17. Interpretation of Sections 15 and 16.
-
-  If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
-                     END OF TERMS AND CONDITIONS
-
-            How to Apply These Terms to Your New Programs
-
-  If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
-  To do so, attach the following notices to the program.  It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
-    <one line to give the program's name and a brief idea of what it does.>
-    Copyright (C) <year>  <name of author>
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-Also add information on how to contact you by electronic and paper mail.
-
-  If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
-    <program>  Copyright (C) <year>  <name of author>
-    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
-    This is free software, and you are welcome to redistribute it
-    under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
-  You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-<http://www.gnu.org/licenses/>.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-<http://www.gnu.org/philosophy/why-not-lgpl.html>.
@@ -1,18 +0,0 @@
-# comma body
-
-This the firmware for the comma body robotics dev kit.
-
-
-Learn more at [commabody.com](https://commabody.com/).
-
-## building
-
-Compile: `scons`
-
-Flash bootstub and app: `board/recover.sh`  # STM flasher should be connected to debug port, needs openocd
-
-Flash app through CAN bus with panda:
-
-`board/flash_base.sh`  # base motherboard
-
-`board/flash_knee.sh`  # knee motherboard
@@ -1 +0,0 @@
-SConscript('board/SConscript')
@@ -31,7 +31,7 @@ if os.getenv("RELEASE"):
  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
 else:
  BUILD_TYPE = "DEBUG"
-  cert_fn = File("../certs/debug").srcnode().relpath
+  cert_fn = File("../certs/debug").srcnode().abspath
  common_flags += ["-DALLOW_DEBUG"]

 if os.getenv("DEBUG"):
@@ -99,7 +99,7 @@ def to_c_uint32(x):
 def get_key_header(name):
  from Crypto.PublicKey import RSA

-  public_fn = f'../certs/{name}.pub'
+  public_fn = File(f'../certs/{name}.pub').srcnode().abspath
  rsa = RSA.importKey(open(public_fn).read())
  assert(rsa.size_in_bits() == 1024)

@@ -124,6 +124,7 @@ def objcopy(source, target, env, for_signature):
 git_ver = get_version(BUILDER, BUILD_TYPE)
 with open("obj/gitversion.h", "w") as f:
  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
+print(f"Git commit hash for gitversion.h: {git_ver}")

 certs = [get_key_header(n) for n in ["debug", "release"]]
 with open("obj/cert.h", "w") as f:
@@ -132,7 +133,7 @@ with open("obj/cert.h", "w") as f:

 for project_name in build_projects:
  project = build_projects[project_name]
-  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath

  flags = [
    "-Wall",
@@ -193,5 +194,5 @@ for project_name in build_projects:
  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)

  # Sign main
-  sign_py = File("../crypto/sign.py").srcnode().relpath
+  sign_py = File("../crypto/sign.py").srcnode().abspath
  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import argparse
-import _thread
-from panda import Panda, MCU_TYPE_F4  # pylint: disable=import-error
-from panda.tests.pedal.canhandle import CanHandle  # pylint: disable=import-error
-
-
-def heartbeat_thread(p):
-  while True:
-    try:
-      p.send_heartbeat()
-      time.sleep(0.5)
-    except Exception:
-      continue
-
-def flush_panda():
-  while(1):
-    if len(p.can_recv()) == 0:
-      break
-
-def flasher(p, addr, file):
-  p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
-  time.sleep(0.1)
-  print("flashing", file)
-  flush_panda()
-  code = open(file, "rb").read()
-  retries = 3 # How many times to retry on timeout error
-  while(retries+1>0):
-    try:
-      Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4)
-    except TimeoutError:
-      print("Timeout, trying again...")
-      retries -= 1
-    else:
-      print("Successfully flashed")
-      break
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description='Flash body over can')
-  parser.add_argument("board", type=str, nargs='?', help="choose base or knee")
-  parser.add_argument("fn", type=str, nargs='?', help="flash file")
-  args = parser.parse_args()
-
-  assert args.board in ["base", "knee"]
-  assert os.path.isfile(args.fn)
-
-  addr = 0x250 if args.board == "base" else 0x350
-
-  p = Panda()
-  _thread.start_new_thread(heartbeat_thread, (p,))
-  p.set_safety_mode(Panda.SAFETY_BODY)
-
-  print("Flashing motherboard")
-  flasher(p, addr, args.fn)
-
-  print("CAN flashing done")
@@ -1,6 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-scons -u
-
-./canloader.py base obj/body.bin.signed
@@ -1,6 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-scons -u
-
-./canloader.py knee obj/body.bin.signed
@@ -8,8 +8,8 @@
  *          is using in the C source code, usually in main.c. This file contains:
  *           - Configuration section that allows to select:
  *              - The STM32F4xx device used in the target application
-  *              - To use or not the peripheral's drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral's registers 
+  *              - To use or not the peripheral’s drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral’s registers 
  *                rather than drivers API), this option is controlled by 
  *                "#define USE_HAL_DRIVER"
  *  
@@ -1,8 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-FLASH_UTIL="openocd"
-
-scons -u
-
-$FLASH_UTIL -f interface/stlink.cfg -c "set CPUTAPID 0" -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase obj/body.bin.signed 0x08004000" -c "flash write_image erase obj/bootstub.body.bin 0x08000000" -c "reset run" -c "shutdown"
@@ -1,7 +0,0 @@
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
-[tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003"]
-line-length = 160
-target-version="py311"
-flake8-implicit-str-concat.allow-multiline=false
@@ -1,5 +0,0 @@
-cffi
-scons
-ruff
-pre-commit
-pycryptodome==3.9.8
@@ -0,0 +1,18 @@
+/gen/
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.o
+*.a
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/
@@ -1,60 +0,0 @@
-# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
-
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
-
-
-## Messaging Spec
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
-
-All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-### Best Practices
-
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
- In the context of the message they are in, field names should be completely unambiguous.
- All values should be easy to plot and be human-readable with minimal parsing.
-
-### Maintaining backwards-compatibility
-
-When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
-be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
-things are not. Read more details [here](https://capnproto.org/language.html).
-
-### Custom forks
-
-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
-
-Example
---
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```
@@ -1,13 +1,14 @@
-Import('env', 'envCython', 'arch', 'common', 'msgq')
+Import('env', 'envCython', 'arch', 'common')

 import shutil

 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-other_dir = Dir('#msgq')
+messaging_dir = Dir('messaging')

 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
            schema_files,
@@ -16,16 +17,58 @@ env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])

-cereal = env.Library('cereal', cereal_objects)
+env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)

 # Build messaging

 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
+
+messaging_objects = env.SharedObject([
+  'messaging/messaging.cc',
+  'messaging/impl_zmq.cc',
+  'messaging/impl_msgq.cc',
+  'messaging/msgq.cc',
+  'messaging/socketmaster.cc',
+])
+
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
+Depends('messaging/bridge.cc', services_h)
+
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])


-socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
-socketmaster = env.Library('socketmaster', socketmaster)
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]

-Export('cereal', 'socketmaster')
+if arch == "larch64":
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+vipc_frameworks = []
+vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
+if arch == "Darwin":
+  vipc_frameworks.append('OpenCL')
+else:
+  vipc_libs.append('OpenCL')
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
+                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+if GetOption('test'):
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
+              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp

@@ -6,4 +7,3 @@ capnp.remove_import_hook()

 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -23,6 +23,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  enum EventName @0xbaa8c5d505f727de {
    canError @0;
    steerUnavailable @1;
+    brakeUnavailable @2;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
@@ -42,7 +43,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    overheat @19;
    calibrationIncomplete @20;
    calibrationInvalid @21;
-    calibrationRecalibrating @117;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
@@ -51,6 +51,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
+    plannerError @32;
    joystickDebug @34;
    steerTempUnavailableSilent @35;
    resumeRequired @36;
@@ -62,7 +63,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverUnresponsive @45;
    belowSteerSpeed @46;
    lowBattery @48;
+    vehicleModelInvalid @50;
    accFaulted @51;
+    accFaultedTemp @115;
    sensorDataInvalid @52;
    commIssue @53;
    commIssueAvgFreq @109;
@@ -84,7 +87,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startup @75;
    startupNoCar @76;
    startupNoControl @77;
-    startupNoSecOcKey @121;
    startupMaster @78;
    startupNoFw @104;
    fcw @79;
@@ -97,6 +99,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    fanMalfunction @91;
    cameraMalfunction @92;
    cameraFrameRate @110;
+    gpsMalfunction @94;
    processNotRunning @95;
    dashcamMode @96;
    controlsInitializing @98;
@@ -104,19 +107,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    roadCameraError @100;
    driverCameraError @101;
    wideRoadCameraError @102;
+    localizerMalfunction @103;
    highCpuUsage @105;
    cruiseMismatch @106;
    lkasDisabled @107;
    canBusMissing @111;
    controlsdLagging @112;
    resumeBlocked @113;
-    steerTimeLimit @115;
-    vehicleSensorsInvalid @116;
-    locationdTemporaryError @103;
-    locationdPermanentError @118;
-    paramsdTemporaryError @50;
-    paramsdPermanentError @119;
-    actuatorsApiUnavailable @120;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -141,9 +138,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;
    noTargetDEPRECATED @25;
-    brakeUnavailableDEPRECATED @2;
-    plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
  }
 }

@@ -156,7 +150,6 @@ struct CarState {
  # CAN health
  canValid @26 :Bool;       # invalid counter/checksums
  canTimeout @40 :Bool;     # CAN bus dropped out
-  canErrorCounter @48 :UInt32;

  # car speed
  vEgo @1 :Float32;          # best estimate of speed
@@ -172,8 +165,6 @@ struct CarState {
  gas @3 :Float32;        # this is user pedal only
  gasPressed @4 :Bool;    # this is user pedal only

-  engineRpm @46 :Float32;
-
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
@@ -194,7 +185,6 @@ struct CarState {
  stockFcw @31 :Bool;
  espDisabled @32 :Bool;
  accFaulted @42 :Bool;
-  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable

  # cruise state
  cruiseState @10 :CruiseState;
@@ -222,9 +212,6 @@ struct CarState {
  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
  charging @43 :Bool;

-  # process meta
-  cumLagMs @50 :Float32;
-
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -282,7 +269,6 @@ struct CarState {
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
-  canRcvTimeoutDEPRECATED @49 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -330,12 +316,14 @@ struct CarControl {
  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;

-  # moved to CarOutput
-  actuatorsOutputDEPRECATED @10 :Actuators;
-
  leftBlinker @15: Bool;
  rightBlinker @16: Bool;

+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
  orientationNED @13 :List(Float32);
  angularVelocity @14 :List(Float32);

@@ -385,7 +373,6 @@ struct CarControl {
    leftLaneVisible @7: Bool;
    rightLaneDepart @8: Bool;
    leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead

    enum VisualAlert {
      # these are the choices from the Honda
@@ -424,13 +411,6 @@ struct CarControl {
  pitchDEPRECATED @9 :Float32;
 }

-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
 # ****** car param ******

 struct CarParams {
@@ -440,6 +420,7 @@ struct CarParams {

  notCar @66 :Bool;  # flag for non-car robotics platforms

+  enableGasInterceptor @2 :Bool;
  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
  enableDsu @5 :Bool;        # driving support unit
  enableBsm @56 :Bool;       # blind spot monitoring
@@ -464,7 +445,6 @@ struct CarParams {

  # things we can derive
  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff

@@ -472,8 +452,8 @@ struct CarParams {
  lateralParams @48 :LateralParams;
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
-    indiDEPRECATED @27 :LateralINDITuning;
-    lqrDEPRECATED @40 :LateralLQRTuning;
+    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
    torque @67 :LateralTorqueTuning;
  }

@@ -491,11 +471,11 @@ struct CarParams {
  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
  dashcamOnly @41: Bool;
-  passive @73: Bool;   # is openpilot in control?
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);

@@ -505,9 +485,6 @@ struct CarParams {

  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds

-  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
-  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
-
  struct SafetyConfig {
    safetyModel @0 :SafetyModel;
    safetyParam @3 :UInt16;
@@ -532,12 +509,11 @@ struct CarParams {
    useSteeringAngle @0 :Bool;
    kp @1 :Float32;
    ki @2 :Float32;
-    kd @8 : Float32;
    friction @3 :Float32;
+    kf @4 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
    latAccelFactor @6 :Float32;
    latAccelOffset @7 :Float32;
-    kfDEPRECATED @4 :Float32;
  }

  struct LongitudinalPIDTuning {
@@ -545,7 +521,7 @@ struct CarParams {
    kpV @1 :List(Float32);
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
-    kfDEPRECATED @6 :Float32;
+    kf @6 :Float32;
    deadzoneBP @4 :List(Float32);
    deadzoneV @5 :List(Float32);
  }
@@ -603,23 +579,19 @@ struct CarParams {
    noOutput @19;  # like silent but without silent CAN TXs
    hondaBosch @20;
    volkswagenPq @21;
-    subaruPreglobal @22;  # pre-Global platform
+    subaruLegacy @22;  # pre-Global platform
    hyundaiLegacy @23;
    hyundaiCommunity @24;
    volkswagenMlb @25;
    hongqi @26;
    body @27;
    hyundaiCanfd @28;
-    volkswagenMqbEvo @29;
-    chryslerCusw @30;
-    psa @31;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
-
-    curvatureDEPRECATED @2;
+    curvature @2;
  }

  enum TransmissionType {
@@ -640,7 +612,6 @@ struct CarParams {
    brand @6 :Text;
    bus @7 :UInt8;
    logging @8 :Bool;
-    obdMultiplexing @9 :Bool;
  }

  enum Ecu {
@@ -651,7 +622,6 @@ struct CarParams {
    engine @4;
    unknown @5;
    transmission @8; # Transmission Control Module
-    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
    srs @9; # airbag
    gateway @10; # can gateway
    hud @11; # heads up display
@@ -660,19 +630,21 @@ struct CarParams {
    shiftByWire @16;
    adas @19;
    cornerRadar @21;
-    hvac @20;
-    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-    epb @22;  # electronic parking brake
-    telematics @23;
-    body @24;  # body control module

    # Toyota only
    dsu @6;
+    apgs @7;

    # Honda only
    vsa @13; # Vehicle Stability Assist
    programmedFuelInjection @14;

+    # Chrysler only
+    hcp @18;  # Hybrid Control Processor
+
+    # Hyundai only
+    vcu @20;  # Vehicle (Motor) Control Unit
+
    debug @17;
  }

@@ -687,7 +659,6 @@ struct CarParams {
    gateway @1;    # Integration at vehicle's CAN gateway
  }

-  enableGasInterceptor @2 :Bool;
  enableCameraDEPRECATED @4 :Bool;
  enableApgsDEPRECATED @6 :Bool;
  steerRateCostDEPRECATED @33 :Float32;
@@ -707,5 +678,4 @@ struct CarParams {
  brakeMaxVDEPRECATED @16 :List(Float32);
  directAccelControlDEPRECATED @30 :Bool;
  maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }
@@ -1,246 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Car = import "car.capnp";
-
-@0xb526ba661d550a59;
-
-# custom.capnp: a home for empty structs reserved for custom forks
-# These structs are guaranteed to remain reserved and empty in mainline
-# cereal, so use these if you want custom events in your fork.
-
-# you can rename the struct, but don't change the identifier
-struct FrogPilotCarControl {
-  hudControl @0 :HUDControl;
-
-  struct HUDControl {
-    audibleAlert @0 :AudibleAlert;
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-
-      # Random Events
-      angry @9;
-      continued @10;
-      dejaVu @11;
-      doc @12;
-      fart @13;
-      firefox @14;
-      goat @15;
-      hal9000 @16;
-      mail @17;
-      nessie @18;
-      noice @19;
-      startup @20;
-      thisIsFine @21;
-      uwu @22;
-    }
-  }
-}
-
-struct FrogPilotCarEvent @0x81c2f05a394cf4af {
-  name @0 :EventName;
-
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool;
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0xaedffd8f31e7b55d {
-    blockUser @0;
-    customStartupAlert @1;
-    forcingStop @2;
-    goatSteerSaturated @3;
-    greenLight @4;
-    holidayActive @5;
-    laneChangeBlockedLoud @6;
-    leadDeparting @7;
-    noLaneAvailable @8;
-    openpilotCrashed @9;
-    pedalInterceptorNoBrake @10;
-    speedLimitChanged @11;
-    torqueNNLoad @12;
-    trafficModeActive @13;
-    trafficModeInactive @14;
-    turningLeft @15;
-    turningRight @16;
-
-    # Random Events
-    accel30 @17;
-    accel35 @18;
-    accel40 @19;
-    dejaVuCurve @20;
-    firefoxSteerSaturated @21;
-    hal9000 @22;
-    openpilotCrashedRandomEvent @23;
-    thisIsFineSteerSaturated @24;
-    toBeContinued @25;
-    vCruise69 @26;
-    yourFrogTriedToKillMe @27;
-    youveGotMail @28;
-  }
-}
-
-struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
-  canUsePedal @0 :Bool;
-  canUseSDSU @1 :Bool;
-  fpFlags @2 :UInt32;
-  isHDA2 @3 :Bool;
-  openpilotLongitudinalControlDisabled @4 :Bool;
-  safetyConfigs @5 :List(SafetyConfig);
-  canUseSASCM @6 :Bool;
-
-  struct SafetyConfig {
-    safetyParam @0 :UInt16;
-  }
-}
-
-struct FrogPilotCarState @0xda96579883444c35 {
-  accelPressed @0 :Bool;
-  alwaysOnLateralAllowed @1 :Bool;
-  alwaysOnLateralEnabled @2 :Bool;
-  brakeLights @3 :Bool;
-  dashboardSpeedLimit @4 :Float32;
-  decelPressed @5 :Bool;
-  distancePressed @6 :Bool;
-  distanceLongPressed @7 :Bool;
-  distanceVeryLongPressed @8 :Bool;
-  ecoGear @9 :Bool;
-  forceCoast @10 :Bool;
-  pauseLateral @11 :Bool;
-  pauseLongitudinal @12 :Bool;
-  sportGear @13 :Bool;
-  trafficModeEnabled @14 :Bool;
-
-  struct ButtonEvent {
-    enum Type {
-      lkas @0;
-    }
-  }
-}
-
-struct FrogPilotControlsState @0x80ae746ee2596b11 {
-  alertStatus @0 :AlertStatus;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  alertSize @3 :AlertSize;
-  alertBlinkingRate @4 :Float32;
-  alertType @5 :Text;
-  alertSound @6 :Car.CarControl.HUDControl.AudibleAlert;
-
-  enum AlertSize {
-    none @0;    # don't display the alert
-    small @1;   # small box
-    mid @2;     # mid screen
-    full @3;    # full screen
-  }
-
-  enum AlertStatus {
-    normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid priority alert that might require user intervention
-    critical @2;     # high priority alert that needs immediate user intervention
-    frogpilot @3;    # FrogPilot startup alert
-  }
-}
-
-struct FrogPilotDeviceState @0xa5cd762cd951a455 {
-  freeSpace @0 :Int16;
-  usedSpace @1 :Int16;
-}
-
-struct FrogPilotModelDataV2 @0xf98d843bfd7004a3 {
-  turnDirection @0 :TurnDirection;
-
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
-}
-
-struct FrogPilotNavigation @0xf416ec09499d9d19 {
-  approachingIntersection @0 :Bool;
-  approachingTurn @1 :Bool;
-  navigationSpeedLimit @2 :Float32;
-}
-
-struct FrogPilotPlan @0xa1680744031fdb2d {
-  accelerationJerk @0 :Float32;
-  accelerationJerkStock @1 :Float32;
-  cscControllingSpeed @2 :Bool;
-  cscSpeed @3 :Float32;
-  cscTraining @4 :Bool;
-  dangerJerk @5 :Float32;
-  desiredFollowDistance @6 :Int64;
-  disableThrottle @7 :Bool;
-  experimentalMode @8 :Bool;
-  forcingStop @9 :Bool;
-  forcingStopLength @10 :Float32;
-  frogpilotEvents @11 :List(FrogPilotCarEvent);
-  increasedStoppedDistance @12 :Float32;
-  lateralCheck @13 :Bool;
-  laneWidthLeft @14 :Float32;
-  laneWidthRight @15 :Float32;
-  maxAcceleration @16 :Float32;
-  minAcceleration @17 :Float32;
-  redLight @18 :Bool;
-  roadCurvature @19 :Float32;
-  slcMapSpeedLimit @20 :Float32;
-  slcMapboxSpeedLimit @21 :Float32;
-  slcNextSpeedLimit @22 :Float32;
-  slcOverriddenSpeed @23 :Float32;
-  slcSpeedLimit @24 :Float32;
-  slcSpeedLimitOffset @25 :Float32;
-  slcSpeedLimitSource @26 :Text;
-  speedJerk @27 :Float32;
-  speedJerkStock @28 :Float32;
-  speedLimitChanged @29 :Bool;
-  tFollow @30 :Float32;
-  themeUpdated @31 :Bool;
-  togglesUpdated @32 :Bool;
-  trackingLead @33 :Bool;
-  unconfirmedSlcSpeedLimit @34 :Float32;
-  vCruise @35 :Float32;
-}
-
-struct FrogPilotRadarState @0xcb9fd56c7057593a {
-  leadLeft @0 :LeadData;
-  leadRight @1 :LeadData;
-
-  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
-
-    aLeadDEPRECATED @5 :Float32;
-  }
-}
@@ -3,7 +3,6 @@ $Cxx.namespace("cereal");

 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
-using Custom = import "custom.capnp";

@0xf3b1f17e25a4285b;

@@ -17,24 +16,16 @@ struct Map(Key, Value) {
  }
 }

-enum LongitudinalPersonality {
-  aggressive @0;
-  standard @1;
-  relaxed @2;
-}
-
 struct InitData {
  kernelArgs @0 :List(Text);
  kernelVersion @15 :Text;
  osVersion @18 :Text;

  dongleId @2 :Text;
-  bootlogId @22 :Text;

  deviceType @3 :DeviceType;
  version @4 :Text;
  gitCommit @10 :Text;
-  gitCommitDate @21 :Text;
  gitBranch @11 :Text;
  gitRemote @13 :Text;

@@ -48,8 +39,6 @@ struct InitData {

  commands @19 :Map(Text, Data);

-  wallTimeNanos @20 :UInt64;
-
  enum DeviceType {
    unknown @0;
    neo @1;
@@ -57,8 +46,6 @@ struct InitData {
    chffrIos @3;
    tici @4;
    pc @5;
-    tizi @6;
-    mici @7;
  }

  struct PandaInfo {
@@ -133,11 +120,11 @@ struct InitData {

 struct FrameData {
  frameId @0 :UInt32;
+  encodeId @1 :UInt32; # DEPRECATED
  frameIdSensor @25 :UInt32;
-  requestId @28 :UInt32;
-  encodeId @1 :UInt32;

  frameType @7 :FrameType;
+  frameLength @3 :Int32;

  # Timestamps
  timestampEof @2 :UInt64;
@@ -152,6 +139,16 @@ struct FrameData {
  targetGreyFraction @22 :Float32;
  exposureValPercent @27 :Float32;

+  # Focus
+  lensPos @11 :Int32;
+  lensSag @12 :Float32;
+  lensErr @13 :Float32;
+  lensTruePos @14 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);
+  recoverState @19 :Int32;
+
  transform @10 :List(Float32);

  image @6 :Data;
@@ -170,20 +167,10 @@ struct FrameData {
    unknown @0;
    ar0231 @1;
    ox03c10 @2;
-    os04c10 @3;
  }

-  frameLengthDEPRECATED @3 :Int32;
  globalGainDEPRECATED @5 :Int32;
  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
-  lensPosDEPRECATED @11 :Int32;
-  lensSagDEPRECATED @12 :Float32;
-  lensErrDEPRECATED @13 :Float32;
-  lensTruePosDEPRECATED @14 :Float32;
-  focusValDEPRECATED @16 :List(Int16);
-  focusConfDEPRECATED @17 :List(UInt8);
-  sharpnessScoreDEPRECATED @18 :List(UInt16);
-  recoverStateDEPRECATED @19 :Int32;
  struct AndroidCaptureResult {
    sensitivity @0 :Int32;
    frameDuration @1 :Int64;
@@ -199,13 +186,6 @@ struct Thumbnail {
  frameId @0 :UInt32;
  timestampEof @1 :UInt64;
  thumbnail @2 :Data;
-  encoding @3 :Encoding;
-
-  enum Encoding {
-    unknown @0;
-    jpeg @1;
-    keyframe @2;
-  }
 }

 struct GPSNMEAData {
@@ -259,7 +239,7 @@ struct SensorEventData {

 # android struct GpsLocation
 struct GpsLocationData {
-  # Contains module-specific flags.
+  # Contains GpsLocationFlags bits.
  flags @0 :UInt16;

  # Represents latitude in degrees.
@@ -277,8 +257,8 @@ struct GpsLocationData {
  # Represents heading in degrees.
  bearingDeg @5 :Float32;

-  # Represents expected horizontal accuracy in meters.
-  horizontalAccuracy @6 :Float32;
+  # Represents expected accuracy in meters. (presumably 1 sigma?)
+  accuracy @6 :Float32;

  unixTimestampMillis @7 :Int64;

@@ -296,8 +276,6 @@ struct GpsLocationData {
  # Represents velocity accuracy in m/s. (presumably 1 sigma?)
  speedAccuracy @12 :Float32;

-  hasFix @13 :Bool;
-
  enum SensorSource {
    android @0;
    iOS @1;
@@ -308,33 +286,9 @@ struct GpsLocationData {
    ublox @6;
    trimble @7;
    qcomdiag @8;
-    unicore @9;
  }
 }

-enum Desire {
-  none @0;
-  turnLeft @1;
-  turnRight @2;
-  laneChangeLeft @3;
-  laneChangeRight @4;
-  keepLeft @5;
-  keepRight @6;
-}
-
-enum LaneChangeState {
-  off @0;
-  preLaneChange @1;
-  laneChangeStarting @2;
-  laneChangeFinishing @3;
-}
-
-enum LaneChangeDirection {
-  none @0;
-  left @1;
-  right @2;
-}
-
 struct CanData {
  address @0 :UInt32;
  busTime @1 :UInt16;
@@ -343,8 +297,6 @@ struct CanData {
 }

 struct DeviceState @0xa4d8b5af2aa492eb {
-  deviceType @45 :InitData.DeviceType;
-
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -371,10 +323,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  cpuTempC @26 :List(Float32);
  gpuTempC @27 :List(Float32);
  memoryTempC @28 :Float32;
+  ambientTempC @30 :Float32;
  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
  pmicTempC @39 :List(Float32);
-  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;

@@ -443,29 +395,24 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  chargingErrorDEPRECATED @17 :Bool;
  chargingDisabledDEPRECATED @18 :Bool;
  usbOnlineDEPRECATED @12 :Bool;
-  ambientTempCDEPRECATED @30 :Float32;
 }

 struct PandaState @0xa7649e2575e4591e {
  ignitionLine @2 :Bool;
+  gasInterceptorDetected @4 :Bool;
  rxBufferOverflow @7 :UInt32;
  txBufferOverflow @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
  pandaType @10 :PandaType;
  ignitionCan @13 :Bool;
  faultStatus @15 :FaultStatus;
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
+  harnessStatus @21 :HarnessStatus;
  heartbeatLost @22 :Bool;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;
-
-  spiChecksumErrorCount @33 :UInt16;
-
-  harnessStatus @21 :HarnessStatus;
-  sbu1Voltage @35 :Float32;
-  sbu2Voltage @36 :Float32;

  # can health
  canState0 @29 :PandaCanState;
@@ -481,9 +428,6 @@ struct PandaState @0xa7649e2575e4591e {
  alternativeExperience @23 :Int16;
  safetyRxChecksInvalid @32 :Bool;

-  voltage @0 :UInt32;
-  current @1 :UInt32;
-
  enum FaultStatus {
    none @0;
    faultTemp @1;
@@ -497,7 +441,7 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateCan2 @3;
    interruptRateCan3 @4;
    interruptRateTach @5;
-    interruptRateGmlanDEPRECATED @6;
+    interruptRateGmlan @6;
    interruptRateInterrupts @7;
    interruptRateSpiDma @8;
    interruptRateSpiCs @9;
@@ -516,8 +460,6 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateExti @22;
    interruptRateSpi @23;
    interruptRateUart7 @24;
-    sirenMalfunction @25;
-    heartbeatLoopWatchdog @26;
    # Update max fault type in boardd when adding faults
  }

@@ -532,7 +474,6 @@ struct PandaState @0xa7649e2575e4591e {
    redPanda @7;
    redPandaV2 @8;
    tres @9;
-    cuatro @10;
  }

  enum HarnessStatus {
@@ -541,6 +482,15 @@ struct PandaState @0xa7649e2575e4591e {
    flipped @2;
  }

+  startedSignalDetectedDEPRECATED @5 :Bool;
+  voltageDEPRECATED @0 :UInt32;
+  currentDEPRECATED @1 :UInt32;
+  hasGpsDEPRECATED @6 :Bool;
+  fanSpeedRpmDEPRECATED @11 :UInt16;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
+  safetyParamDEPRECATED @20 :Int16;
+  safetyParam2DEPRECATED @26 :UInt32;
+
  struct PandaCanState {
    busOff @0 :Bool;
    busOffCnt @1 :UInt32;
@@ -563,10 +513,6 @@ struct PandaState @0xa7649e2575e4591e {
    canfdEnabled @18 :Bool;
    brsEnabled @19 :Bool;
    canfdNonIso @20 :Bool;
-    irq0CallRate @21 :UInt32;
-    irq1CallRate @22 :UInt32;
-    irq2CallRate @23 :UInt32;
-    canCoreResetCnt @24 :UInt32;

    enum LecErrorCode {
      noError @0;
@@ -579,15 +525,6 @@ struct PandaState @0xa7649e2575e4591e {
      noChange @7;
    }
  }
-
-  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
-  hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
 }

 struct PeripheralState {
@@ -629,7 +566,6 @@ struct RadarState @0x9a185389d6fdd05f {
    aLeadTau @12 :Float32;
    modelProb @13 :Float32;
    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;

    aLeadDEPRECATED @5 :Float32;
  }
@@ -645,7 +581,7 @@ struct RadarState @0x9a185389d6fdd05f {
 }

 struct LiveCalibrationData {
-  calStatus @11 :Status;
+  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
  validBlocks @9 :Int32;
@@ -657,19 +593,10 @@ struct LiveCalibrationData {
  rpyCalib @7 :List(Float32);
  rpyCalibSpread @8 :List(Float32);
  wideFromDeviceEuler @10 :List(Float32);
-  height @12 :List(Float32);

  warpMatrixDEPRECATED @0 :List(Float32);
-  calStatusDEPRECATED @1 :Int8;
  warpMatrix2DEPRECATED @5 :List(Float32);
  warpMatrixBigDEPRECATED @6 :List(Float32);
-
-  enum Status {
-    uncalibrated @0;
-    calibrated @1;
-    invalid @2;
-    recalibrating @3;
-  }
 }

 struct LiveTracks {
@@ -695,7 +622,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  active @36 :Bool;

  experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;

  longControlState @30 :Car.CarControl.Actuators.LongControlState;
  vPid @2 :Float32;
@@ -708,6 +634,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  aTarget @35 :Float32;
  curvature @37 :Float32;  # path curvature from vehicle model
  desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
+  desiredCurvatureRate @62 :Float32;
  forceDecel @51 :Bool;

  # UI alerts
@@ -721,6 +648,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  engageable @41 :Bool;  # can OP be engaged?

  cumLagMs @15 :Float32;
+  canErrorCounter @57 :UInt32;

  lateralControlState :union {
    indiState @52 :LateralINDIState;
@@ -728,8 +656,8 @@ struct ControlsState @0x97ff69c53601abf1 {
    angleState @58 :LateralAngleState;
    debugState @59 :LateralDebugState;
    torqueState @60 :LateralTorqueState;
+    curvatureState @65 :LateralCurvatureState;

-    curvatureStateDEPRECATED @65 :LateralCurvatureState;
    lqrStateDEPRECATED @55 :LateralLQRState;
  }

@@ -795,8 +723,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @7 :Bool;
    actualLateralAccel @9 :Float32;
    desiredLateralAccel @10 :Float32;
-    desiredLateralJerk @11 :Float32;
-    version @12 :Int32;
   }

  struct LateralLQRState {
@@ -866,51 +792,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  steerOverrideDEPRECATED @20 :Bool;
  steeringAngleDesiredDegDEPRECATED @29 :Float32;
  canMonoTimesDEPRECATED @21 :List(UInt64);
-  desiredCurvatureRateDEPRECATED @62 :Float32;
-  canErrorCounterDEPRECATED @57 :UInt32;
-}
-
-struct DrivingModelData {
-  frameId @0 :UInt32;
-  frameIdExtra @1 :UInt32;
-  frameDropPerc @6 :Float32;
-  modelExecutionTime @7 :Float32;
-
-  action @2 :ModelDataV2.Action;
-
-  laneLineMeta @3 :LaneLineMeta;
-  meta @4 :MetaData;
-
-  path @5 :PolyPath;
-
-  struct PolyPath {
-    xCoefficients @0 :List(Float32);
-    yCoefficients @1 :List(Float32);
-    zCoefficients @2 :List(Float32);
-  }
-
-  struct LaneLineMeta {
-    leftY @0 :Float32;
-    rightY @1 :Float32;
-    leftProb @2 :Float32;
-    rightProb @3 :Float32;
-  }
-
-  struct MetaData {
-    laneChangeState @0 :LaneChangeState;
-    laneChangeDirection @1 :LaneChangeDirection;
-  }
-}
-
-# All SI units and in device frame
-struct XYZTData @0xc3cbae1fd505ae80 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  z @2 :List(Float32);
-  t @3 :List(Float32);
-  xStd @4 :List(Float32);
-  yStd @5 :List(Float32);
-  zStd @6 :List(Float32);
 }

 struct ModelDataV2 {
@@ -942,17 +823,20 @@ struct ModelDataV2 {
  leadsV3 @18 :List(LeadDataV3);

  meta @12 :MetaData;
-  confidence @23: ConfidenceClass;

  # Model perceived motion
  temporalPose @21 :Pose;

-  navEnabled @22 :Bool;
-  locationMonoTime @24 :UInt64;
-
-  # e2e lateral planner
-  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
-  action @26: Action;
+  # All SI units and in device frame
+  struct XYZTData {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    z @2 :List(Float32);
+    t @3 :List(Float32);
+    xStd @4 :List(Float32);
+    yStd @5 :List(Float32);
+    zStd @6 :List(Float32);
+  }

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -990,9 +874,6 @@ struct ModelDataV2 {
    desireState @5 :List(Float32);
    disengagePredictions @6 :DisengagePredictions;
    hardBrakePredicted @7 :Bool;
-    laneChangeState @8 :LaneChangeState;
-    laneChangeDirection @9 :LaneChangeDirection;
-

    # deprecated
    brakeDisengageProbDEPRECATED @2 :Float32;
@@ -1000,12 +881,6 @@ struct ModelDataV2 {
    steerOverrideProbDEPRECATED @4 :Float32;
  }

-  enum ConfidenceClass {
-    red @0;
-    yellow @1;
-    green @2;
-  }
-
  struct DisengagePredictions {
    t @0 :List(Float32);
    brakeDisengageProbs @1 :List(Float32);
@@ -1014,8 +889,6 @@ struct ModelDataV2 {
    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
-    gasPressProbs @7 :List(Float32);
-    brakePressProbs @8 :List(Float32);
  }

  struct Pose {
@@ -1024,23 +897,6 @@ struct ModelDataV2 {
    transStd @2 :List(Float32); # std m/s in device frame
    rotStd @3 :List(Float32); # std rad/s in device frame
  }
-
-  struct LateralPlannerSolution {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    yaw @2 :List(Float32);
-    yawRate @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    yawStd @6 :List(Float32);
-    yawRateStd @7 :List(Float32);
-  }
-
-  struct Action {
-    desiredCurvature @0 :Float32;
-    desiredAcceleration @1 :Float32;
-    shouldStop @2 :Bool;
-  }
 }

 struct EncodeIndex {
@@ -1063,17 +919,13 @@ struct EncodeIndex {
  len @9 :UInt32;

  enum Type {
-    bigBoxLossless @0;
-    fullHEVC @1;
-    qcameraH264 @6;
-    livestreamH264 @7;
-
-    # deprecated
-    bigBoxHEVCDEPRECATED @2;
-    chffrAndroidH264DEPRECATED @3;
-    fullLosslessClipDEPRECATED @4;
-    frontDEPRECATED @5;
-
+    bigBoxLossless @0;   # rcamera.mkv
+    fullHEVC @1;         # fcamera.hevc
+    bigBoxHEVC @2;       # bcamera.hevc
+    chffrAndroidH264 @3; # acamera
+    fullLosslessClip @4; # prcamera.mkv
+    front @5;            # dcamera.hevc
+    qcameraH264 @6;      # qcamera.ts
  }
 }

@@ -1098,11 +950,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  accels @32 :List(Float32);
  speeds @33 :List(Float32);
  jerks @34 :List(Float32);
-  aTarget @18 :Float32;
-  shouldStop @37: Bool;
-  allowThrottle @38: Bool;
-  allowBrake @39: Bool;
-

  solverExecutionTime @35 :Float32;

@@ -1119,6 +966,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  aCruiseDEPRECATED @17 :Float32;
  vTargetDEPRECATED @3 :Float32;
  vTargetFutureDEPRECATED @14 :Float32;
+  aTargetDEPRECATED @18 :Float32;
  vStartDEPRECATED @26 :Float32;
  aStartDEPRECATED @27 :Float32;
  vMaxDEPRECATED @20 :Float32;
@@ -1141,18 +989,12 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  eventsDEPRECATED @13 :List(Car.CarEvent);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;

  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
  }
 }
-struct UiPlan {
-  frameId @2 :UInt32;
-  position @0 :XYZTData;
-  accel @1 :List(Float32);
-}

 struct LateralPlan @0xe1e9318e2ae8b51e {
  modelMonoTime @31 :UInt64;
@@ -1174,12 +1016,28 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
  curvatureRates @28 :List(Float32);

  solverExecutionTime @30 :Float32;
-  solverCost @32 :Float32;
-  solverState @33 :SolverState;

-  struct SolverState {
-    x @0 :List(List(Float32));
-    u @1 :List(Float32);
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
  }

  # deprecated
@@ -1242,9 +1100,6 @@ struct LiveLocationKalman {
  deviceStable @22 :Bool = true;
  timeSinceReset @23 :Float64;
  excessiveResets @24 :Bool;
-  timeToFirstFix @25 :Float32;
-
-  filterState @26 : Measurement;

  enum Status {
    uninitialized @0;
@@ -1259,38 +1114,6 @@ struct LiveLocationKalman {
  }
 }

-
-struct LivePose {
-  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
-  orientationNED @0 :XYZMeasurement;
-  velocityDevice @1 :XYZMeasurement;
-  accelerationDevice @2 :XYZMeasurement;
-  angularVelocityDevice @3 :XYZMeasurement;
-
-  inputsOK @4 :Bool = false;
-  posenetOK @5 :Bool = false;
-  sensorsOK @6 :Bool = false;
-
-  filterState @7 :FilterState;
-
-  struct XYZMeasurement {
-    x @0 :Float32;
-    y @1 :Float32;
-    z @2 :Float32;
-    xStd @3 :Float32;
-    yStd @4 :Float32;
-    zStd @5 :Float32;
-    valid @6 :Bool;
-  }
-
-  struct FilterState {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-    valid @2 : Bool;
-  }
-}
-
 struct ProcLog {
  cpuTimes @0 :List(CPUTimes);
  mem @1 :Mem;
@@ -1349,24 +1172,13 @@ struct GnssMeasurements {
  gpsTimeOfWeek @2 :Float64;

  correctedMeasurements @3 :List(CorrectedMeasurement);
-  ephemerisStatuses @9 :List(EphemerisStatus);

  kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
  kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
  positionECEF @6 :LiveLocationKalman.Measurement;
  velocityECEF @7 :LiveLocationKalman.Measurement;
-  timeToFirstFix @8 :Float32;
  # Todo sync this with timing pulse of ublox

-  struct EphemerisStatus {
-    constellationId @0 :ConstellationId;
-    svId @1 :UInt8;
-    type @2 :EphemerisType;
-    source @3 :EphemerisSource;
-    gpsWeek @4 : UInt16;
-    tow @5 :Float64;
-  }
-
  struct CorrectedMeasurement {
    constellationId @0 :ConstellationId;
    svId @1 :UInt8;
@@ -1379,11 +1191,11 @@ struct GnssMeasurements {
    # Satellite position and velocity [x,y,z]
    satPos @7 :List(Float64);
    satVel @8 :List(Float64);
-    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
+    ephemerisSource @9 :EphemerisSource;
  }

-  struct EphemerisSourceDEPRECATED {
-    type @0 :EphemerisType;
+  struct EphemerisSource {
+    type @0 :EphemerisSourceType;
    # first epoch in file:
    gpsWeek @1 :Int16; # -1 if Nav
    gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
@@ -1400,20 +1212,13 @@ struct GnssMeasurements {
    glonass @6;
  }

-  enum EphemerisType {
+  enum EphemerisSourceType {
    nav @0;
    # Different ultra-rapid files:
    nasaUltraRapid @1;
    glonassIacUltraRapid @2;
    qcom @3;
  }
-
-  enum EphemerisSource {
-    gnssChip @0;
-    internet @1;
-    cache @2;
-    unknown @3;
-  }
 }

 struct UbloxGnss {
@@ -1424,19 +1229,6 @@ struct UbloxGnss {
    hwStatus @3 :HwStatus;
    hwStatus2 @4 :HwStatus2;
    glonassEphemeris @5 :GlonassEphemeris;
-    satReport @6 :SatReport;
-  }
-
-  struct SatReport {
-    #received time of week in gps time in seconds and gps week
-    iTow @0 :UInt32;
-    svs @1 :List(SatInfo);
-
-    struct SatInfo {
-      svId @0 :UInt8;
-      gnssId @1 :UInt8;
-      flagsBitfield @2 :UInt32;
-    }
  }

  struct MeasurementReport {
@@ -1530,7 +1322,7 @@ struct UbloxGnss {

    iDot @26 :Float64;
    codesL2 @27 :Float64;
-    gpsWeekDEPRECATED @28 :Float64;
+    gpsWeek @28 :Float64;
    l2 @29 :Float64;

    svAcc @30 :Float64;
@@ -1548,8 +1340,6 @@ struct UbloxGnss {
    ionoBeta @39 :List(Float64);

    towCount @40 :UInt32;
-    toeWeek @41 :UInt16;
-    tocWeek @42 :UInt16;
  }

  struct IonoData {
@@ -1628,7 +1418,7 @@ struct UbloxGnss {
    age @17 :UInt8;

    svHealth @18 :UInt8;
-    tkDEPRECATED @19 :UInt16;
+    tk @19 :UInt16;
    tb @20 :UInt16;

    tauN @21 :Float64;
@@ -1640,12 +1430,7 @@ struct UbloxGnss {
    p3 @26 :UInt8;
    p4 @27 :UInt8;

-    freqNumDEPRECATED @28 :UInt32;
-
-    n4 @29 :UInt8;
-    nt @30 :UInt16;
-    freqNum @31 :Int16;
-    tkSeconds @32 :UInt32;
+    freqNum @28 :UInt32;
  }
 }

@@ -1937,19 +1722,15 @@ struct QcomGnss @0xde94674b07ae51c1 {
    elevationDot @20 :Float32;
    elevationUncertainty @21 :Float32;
    velocityCoeff @22 :List(Float64);
-
-    gpsWeek @23 :UInt16;
-    gpsTow @24 :Float64;
  }
 }

 struct Clocks {
-  wallTimeNanos @3 :UInt64;  # unix epoch time
-
-  bootTimeNanosDEPRECATED @0 :UInt64;
-  monotonicNanosDEPRECATED @1 :UInt64;
-  monotonicRawNanosDEPRECATD @2 :UInt64;
-  modemUptimeMillisDEPRECATED @4 :UInt64;
+  bootTimeNanos @0 :UInt64;
+  monotonicNanos @1 :UInt64;
+  monotonicRawNanos @2 :UInt64;
+  wallTimeNanos @3 :UInt64;
+  modemUptimeMillis @4 :UInt64;
 }

 struct LiveMpcData {
@@ -2083,6 +1864,7 @@ struct LiveParametersData {
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
  sensorValid @6 :Bool;
+  yawRate @7 :Float32;
  posenetSpeed @8 :Float32;
  posenetValid @9 :Bool;
  angleOffsetFastStd @10 :Float32;
@@ -2090,9 +1872,6 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
-  filterState @15 :LiveLocationKalman.Measurement;
-
-  yawRateDEPRECATED @7 :Float32;
 }

 struct LiveTorqueParametersData {
@@ -2111,22 +1890,6 @@ struct LiveTorqueParametersData {
  useParams @12 :Bool;
 }

-struct LiveDelayData {
-  lateralDelay @0 :Float32;
-  validBlocks @1 :Int32;
-  status @2 :Status;
-
-  lateralDelayEstimate @3 :Float32;
-  lateralDelayEstimateStd @5 :Float32;
-  points @4 :List(Float32);
-
-  enum Status {
-    unestimated @0;
-    estimated @1;
-    invalid @2;
-  }
-}
-
 struct LiveMapDataDEPRECATED {
  speedLimitValid @0 :Bool;
  speedLimit @1 :Float32;
@@ -2156,8 +1919,6 @@ struct CameraOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
  wideFromDeviceEuler @6 :List(Float32);
  wideFromDeviceEulerStd @7 :List(Float32);
-  roadTransformTrans @8 :List(Float32);
-  roadTransformTransStd @9 :List(Float32);
 }

 struct Sentinel {
@@ -2216,8 +1977,6 @@ struct NavInstruction {
  speedLimit @10 :Float32; # m/s
  speedLimitSign @11 :SpeedLimitSign;

-  allManeuvers @12 :List(Maneuver);
-
  struct Lane {
    directions @0 :List(Direction);
    active @1 :Bool;
@@ -2229,20 +1988,12 @@ struct NavInstruction {
    left @1;
    right @2;
    straight @3;
-    slightLeft @4;
-    slightRight @5;
  }

  enum SpeedLimitSign {
    mutcd @0; # US Style
    vienna @1; # EU Style
-  }
-
-  struct Maneuver {
-    distance @0 :Float32;
-    type @1 :Text;
-    modifier @2 :Text;
-  }
+    }
 }

 struct NavRoute {
@@ -2262,7 +2013,6 @@ struct MapRenderState {

 struct NavModelData {
  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
  modelExecutionTime @1 :Float32;
  dspExecutionTime @2 :Float32;
  features @3 :List(Float32);
@@ -2284,8 +2034,6 @@ struct EncodeData {
  data @1 :Data;
  header @2 :Data;
  unixTimestampNanos @3 :UInt64;
-  width @4 :UInt32;
-  height @5 :UInt32;
 }

 struct UserFlag {
@@ -2323,7 +2071,6 @@ struct Event {
    magnetometer @95 :SensorEventData;
    lightSensor @96 :SensorEventData;
    temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
    pandaStates @81 :List(PandaState);
    peripheralState @80 :PeripheralState;
    radarState @13 :RadarState;
@@ -2332,9 +2079,8 @@ struct Event {
    liveCalibration @19 :LiveCalibrationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
-    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
+    lateralPlan @64 :LateralPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2343,17 +2089,15 @@ struct Event {
    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @130 : LiveDelayData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
-    onroadEvents @68: List(Car.CarEvent);
+    carEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
    driverMonitoringState @71: DriverMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
-    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
-    drivingModelData @128 :DrivingModelData;
    driverStateV2 @92 :DriverStateV2;
+    navModel @104 :NavModelData;

    # camera stuff, each camera state has a matching encode idx
    roadCameraState @2 :FrameData;
@@ -2364,10 +2108,6 @@ struct Event {
    wideRoadEncodeIdx @77 :EncodeIndex;
    qRoadEncodeIdx @90 :EncodeIndex;

-    livestreamRoadEncodeIdx @117 :EncodeIndex;
-    livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
-
    # microphone data
    microphone @103 :Microphone;

@@ -2398,26 +2138,6 @@ struct Event {
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;

-    livestreamRoadEncodeData @120 :EncodeData;
-    livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
-
-    customReservedRawData0 @124 :Data;
-    customReservedRawData1 @125 :Data;
-    customReservedRawData2 @126 :Data;
-
-    # *********** Custom: reserved for forks ***********
-    frogpilotCarControl @107 :Custom.FrogPilotCarControl;
-    frogpilotCarParams @108 :Custom.FrogPilotCarParams;
-    frogpilotCarState @109 :Custom.FrogPilotCarState;
-    frogpilotControlsState @110 :Custom.FrogPilotControlsState;
-    frogpilotDeviceState @111 :Custom.FrogPilotDeviceState;
-    frogpilotModelV2 @112 :Custom.FrogPilotModelDataV2;
-    frogpilotNavigation @113 :Custom.FrogPilotNavigation;
-    frogpilotOnroadEvents @114: List(Custom.FrogPilotCarEvent);
-    frogpilotPlan @115 :Custom.FrogPilotPlan;
-    frogpilotRadarState @116 :Custom.FrogPilotRadarState;
-
    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveMpcDEPRECATED @36 :LiveMpcData;
@@ -2456,7 +2176,5 @@ struct Event {
    pandaStateDEPRECATED @12 :PandaState;
    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
    sensorEventsDEPRECATED @11 :List(SensorEventData);
-    lateralPlanDEPRECATED @64 :LateralPlan;
-    navModel @104 :NavModelData;
  }
 }
@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
@@ -1,34 +1,39 @@
-# must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
-
+# must be build with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import os
 import capnp
-import time

-from typing import Optional, List, Union, Dict, Deque
+from typing import Optional, List, Union
 from collections import deque

 from cereal import log
-from cereal.services import SERVICE_LIST
+from cereal.services import service_list
+
+assert MultiplePublishersError
+assert MessagingError

 NO_TRAVERSAL_LIMIT = 2**64-1
+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ

+# sec_since_boot is faster, but allow to run standalone too
+try:
+  from common.realtime import sec_since_boot
+except ImportError:
+  import time
+  sec_since_boot = time.time
+  print("Warning, using python time.time() instead of faster sec_since_boot")
+
+context = Context()

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

-
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
+  dat = log.Event.new_message()
+  dat.logMonoTime = int(sec_since_boot() * 1e9)
+  dat.valid = True
  if service is not None:
    if size is None:
      dat.init(service)
@@ -36,11 +41,56 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
      dat.init(service, size)
  return dat

+def pub_sock(endpoint: str) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret

 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:  # Timeout hit
+      break
+
+    dat = log_from_bytes(dat)
+    ret.append(dat)
+
+  return ret


 # TODO: print when we drop packets?
@@ -50,35 +100,32 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._

  while 1:
    if wait and dat is None:
-      recv = sock.receive()
+      rcv = sock.receive()
    else:
-      recv = sock.receive(non_blocking=True)
+      rcv = sock.receive(non_blocking=True)

-    if recv is None:  # Timeout hit
+    if rcv is None:  # Timeout hit
      break

-    dat = recv
+    dat = rcv

  if dat is not None:
    dat = log_from_bytes(dat)

  return dat

-
 def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive()
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

-
 def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive(non_blocking=True)
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

-
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
@@ -86,77 +133,49 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
    if dat is not None:
      return log_from_bytes(dat)

-
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               addr: str = "127.0.0.1"):
    self.frame = -1
-    self.seen = {s: False for s in services}
    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
    self.freq_ok = {s: False for s in services}
-    self.recv_dts: Dict[str, Deque[float]] = {}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
+    self.freq = {}
    self.data = {}
    self.valid = {}
    self.logMonoTime = {}

-    self.max_freq = {}
-    self.min_freq = {}
-
    self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]

    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
    self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
-
-    # if freq and poll aren't specified, assume the max to be conservative
-    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
-    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])

    for s in services:
-      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      if addr is not None:
+        p = self.poller if s not in self.non_polled_services else None
+        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      self.freq[s] = service_list[s].frequency

      try:
        data = new_message(s)
-      except capnp.lib.capnp.KjException:
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
        data = new_message(s, 0) # lists

-      self.data[s] = getattr(data.as_reader(), s)
+      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
-      self.valid[s] = True  # FIXME: this should default to False
-
-      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
-      if s == poll:
-        max_freq = freq
-        min_freq = freq
-      else:
-        max_freq = min(freq, self.update_freq)
-        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
-          min_freq = self.update_freq
-        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
-          min_freq = freq
-        else:
-          min_freq = min(freq, freq / 2.)
-      self.max_freq[s] = max_freq*1.2
-      self.min_freq[s] = min_freq*0.8
-      self.recv_dts[s] = deque(maxlen=int(10*freq))
+      self.valid[s] = data.valid

  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]

-  def _check_avg_freq(self, s: str) -> bool:
-    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
-
-  def update(self, timeout: int = 100) -> None:
+  def update(self, timeout: int = 1000) -> None:
    msgs = []
    for sock in self.poller.poll(timeout):
      msgs.append(recv_one_or_none(sock))
@@ -164,7 +183,7 @@ class SubMaster:
    # non-blocking receive for non-polled sockets
    for s in self.non_polled_services:
      msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(time.monotonic(), msgs)
+    self.update_msgs(sec_since_boot(), msgs)

  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
@@ -174,61 +193,59 @@ class SubMaster:
        continue

      s = msg.which()
-      self.seen[s] = True
      self.updated[s] = True

-      if self.recv_time[s] > 1e-5:
-        self.recv_dts[s].append(cur_time - self.recv_time[s])
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
+      self.rcv_time[s] = cur_time
+      self.rcv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-    for s in self.data:
-      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-
-        # check average frequency; slow to fall, quick to recover
-        dts = self.recv_dts[s]
-        assert dts.maxlen is not None
-        recent_dts = list(dts)[-int(dts.maxlen / 10):]
-        try:
-          avg_freq = 1 / (sum(dts) / len(dts))
-          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
-        except ZeroDivisionError:
-          avg_freq = 0
-          avg_freq_recent = 0
-
-        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
-        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
-        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
-      else:
+      if SIMULATION:
        self.freq_ok[s] = True
-        if self.simulation:
-          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
+        self.alive[s] = True
+
+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # TODO: check if update frequency is high enough to not drop messages
+          # freq_ok if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.freq_ok[s] = (avg_dt < expected_dt)
        else:
+          self.freq_ok[s] = True
          self.alive[s] = True

-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
+  def all_alive(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)

-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
+  def all_freq_ok(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)

-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
-
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
-    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
+  def all_valid(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.valid.keys()
+    return all(self.valid[s] for s in service_list)

+  def all_checks(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return self.all_alive(service_list=service_list) \
+           and self.all_freq_ok(service_list=service_list) \
+           and self.all_valid(service_list=service_list)

 class PubMaster:
  def __init__(self, services: List[str]):
@@ -241,12 +258,5 @@ class PubMaster:
      dat = dat.to_bytes()
    self.sock[s].send(dat)

-  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
-
  def all_readers_updated(self, s: str) -> bool:
    return self.sock[s].all_readers_updated()  # type: ignore
@@ -8,8 +8,8 @@
 typedef void (*sighandler_t)(int sig);

 #include "cereal/services.h"
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/impl_msgq.h"
+#include "cereal/messaging/impl_zmq.h"

 std::atomic<bool> do_exit = false;
 static void set_do_exit(int sig) {
@@ -24,7 +24,7 @@ void sigpipe_handler(int sig) {
 static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
  for (const auto& it : services) {
-    std::string name = it.second.name;
+    std::string name = it.name;
    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
      continue;
@@ -5,7 +5,8 @@
 #include <csignal>
 #include <cerrno>

-#include "msgq/impl_msgq.h"
+#include "cereal/services.h"
+#include "cereal/messaging/impl_msgq.h"


 volatile sig_atomic_t msgq_do_exit = 0;
@@ -15,6 +16,15 @@ void sig_handler(int signal) {
  msgq_do_exit = 1;
 }

+static bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}
+

 MSGQContext::MSGQContext() {
 }
@@ -53,6 +63,10 @@ int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string a
  assert(context);
  assert(address == "127.0.0.1");

+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
  if (r != 0){
@@ -141,10 +155,9 @@ MSGQSubSocket::~MSGQSubSocket(){
 int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  assert(context);

-  // TODO
-  //if (check_endpoint && !service_exists(std::string(endpoint))){
-  //  std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
-  //}
+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }

  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
@@ -3,8 +3,8 @@
 #include <string>
 #include <vector>

-#include "msgq/ipc.h"
-#include "msgq/msgq.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/msgq.h"

 #define MAX_POLLERS 128

@@ -63,5 +63,5 @@ private:
 public:
  void registerSocket(SubSocket *socket);
  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){}
+  ~MSGQPoller(){};
 };
@@ -3,18 +3,22 @@
 #include <iostream>
 #include <cstdlib>
 #include <cerrno>
-#include <unistd.h>

-#include "msgq/impl_zmq.h"
+#include "cereal/services.h"
+#include "cereal/messaging/impl_zmq.h"

-//FIXME: This is a hack to get the port number from the socket name, might have collisions
 static int get_port(std::string endpoint) {
-    std::hash<std::string> hasher;
-    size_t hash_value = hasher(endpoint);
-    int start_port = 8023;
-    int max_port = 65535;
-    int port = start_port + (hash_value % (max_port - start_port));
-    return port;
+  int port = -1;
+  for (const auto& it : services) {
+    std::string name = it.name;
+    if (name == endpoint) {
+      port = it.port;
+      break;
+    }
+  }
+
+  assert(port >= 0);
+  return port;
 }

 ZMQContext::ZMQContext() {
@@ -64,7 +68,6 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
  int reconnect_ivl = 500;
  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));

-
  full_endpoint = "tcp://" + address + ":";
  if (check_endpoint){
    full_endpoint += std::to_string(get_port(endpoint));
@@ -115,19 +118,14 @@ int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_end
    full_endpoint += endpoint;
  }

-  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same
-  pid = getpid();
-
  return zmq_bind(sock, full_endpoint.c_str());
 }

-int ZMQPubSocket::sendMessage(Message *message) {
-  assert(pid == getpid());
+int ZMQPubSocket::sendMessage(Message *message){
  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
 }

-int ZMQPubSocket::send(char *data, size_t size) {
-  assert(pid == getpid());
+int ZMQPubSocket::send(char *data, size_t size){
  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }

@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>

-#include "msgq/ipc.h"
+#include "cereal/messaging/messaging.h"

 #define MAX_POLLERS 128

@@ -46,7 +46,6 @@ class ZMQPubSocket : public PubSocket {
 private:
  void * sock;
  std::string full_endpoint;
-  int pid = -1;
 public:
  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
@@ -64,5 +63,5 @@ private:
 public:
  void registerSocket(SubSocket *socket);
  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){}
+  ~ZMQPoller(){};
 };
@@ -0,0 +1,113 @@
+#include <cassert>
+#include <iostream>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/impl_zmq.h"
+#include "cereal/messaging/impl_msgq.h"
+
+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
+bool messaging_use_zmq(){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ) {
+    if (std::getenv("OPENPILOT_PREFIX")) {
+      std::cerr << "OPENPILOT_PREFIX not supported with ZMQ backend\n";
+      assert(false);
+    }
+    return true;
+  }
+  return false;
+}
+
+Context * Context::create(){
+  Context * c;
+  if (messaging_use_zmq()){
+    c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
+  }
+  return c;
+}
+
+SubSocket * SubSocket::create(){
+  SubSocket * s;
+  if (messaging_use_zmq()){
+    s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
+  }
+  return s;
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+PubSocket * PubSocket::create(){
+  PubSocket * s;
+  if (messaging_use_zmq()){
+    s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
+  }
+  return s;
+}
+
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
+  PubSocket *s = PubSocket::create();
+  int r = s->connect(context, endpoint, check_endpoint);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+Poller * Poller::create(){
+  Poller * p;
+  if (messaging_use_zmq()){
+    p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
+  }
+  return p;
+}
+
+Poller * Poller::create(std::vector<SubSocket*> sockets){
+  Poller * p = Poller::create();
+
+  for (auto s : sockets){
+    p->registerSocket(s);
+  }
+  return p;
+}
+
+extern "C" Context * messaging_context_create() {
+  return Context::create();
+}
+
+extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
+  return SubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
+  return PubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
+  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
+  return Poller::create(socketsVec);
+}
@@ -10,7 +10,6 @@
 #include <capnp/serialize.h>

 #include "cereal/gen/cpp/log.capnp.h"
-#include "msgq/ipc.h"

 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -18,6 +17,57 @@

 #define MSG_MULTIPLE_PUBLISHERS 100

+bool messaging_use_zmq();
+
+class Context {
+public:
+  virtual void * getRawContext() = 0;
+  static Context * create();
+  virtual ~Context(){}
+};
+
+class Message {
+public:
+  virtual void init(size_t size) = 0;
+  virtual void init(char * data, size_t size) = 0;
+  virtual void close() = 0;
+  virtual size_t getSize() = 0;
+  virtual char * getData() = 0;
+  virtual ~Message(){};
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  virtual void * getRawSocket() = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
+  virtual ~SubSocket(){};
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
+  virtual ~PubSocket(){};
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){};
+};

 class SubMaster {
 public:
@@ -66,18 +116,6 @@ public:
    return heapArray_.asBytes();
  }

-  size_t getSerializedSize() {
-    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
-  }
-
-  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
-    size_t serialized_size = getSerializedSize();
-    if (serialized_size > buffer_size) { return -1; }
-    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
-    capnp::writeMessage(out, *this);
-    return serialized_size;
-  }
-
 private:
  kj::Array<capnp::word> heapArray_;
 };
@@ -0,0 +1,40 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+
+
+cdef extern from "cereal/messaging/messaging.h":
+  cdef cppclass Context:
+    @staticmethod
+    Context * create()
+
+  cdef cppclass Message:
+    void init(size_t)
+    void init(char *, size_t)
+    void close()
+    size_t getSize()
+    char *getData()
+
+  cdef cppclass SubSocket:
+    @staticmethod
+    SubSocket * create()
+    int connect(Context *, string, string, bool)
+    Message * receive(bool)
+    void setTimeout(int)
+
+  cdef cppclass PubSocket:
+    @staticmethod
+    PubSocket * create()
+    int connect(Context *, string)
+    int sendMessage(Message *)
+    int send(char *, size_t)
+    bool all_readers_updated()
+
+  cdef cppclass Poller:
+    @staticmethod
+    Poller * create()
+    void registerSocket(SubSocket *)
+    vector[SubSocket*] poll(int) nogil
@@ -0,0 +1,154 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc cimport errno
+
+
+from .messaging cimport Context as cppContext
+from .messaging cimport SubSocket as cppSubSocket
+from .messaging cimport PubSocket as cppPubSocket
+from .messaging cimport Poller as cppPoller
+from .messaging cimport Message as cppMessage
+
+
+class MessagingError(Exception):
+  pass
+
+
+class MultiplePublishersError(MessagingError):
+  pass
+
+
+cdef class Context:
+  cdef cppContext * context
+
+  def __cinit__(self):
+    self.context = cppContext.create()
+
+  def term(self):
+    del self.context
+    self.context = NULL
+
+  def __dealloc__(self):
+    pass
+    # Deleting the context will hang if sockets are still active
+    # TODO: Figure out a way to make sure the context is closed last
+    # del self.context
+
+
+cdef class Poller:
+  cdef cppPoller * poller
+  cdef list sub_sockets
+
+  def __cinit__(self):
+    self.sub_sockets = []
+    self.poller = cppPoller.create()
+
+  def __dealloc__(self):
+    del self.poller
+
+  def registerSocket(self, SubSocket socket):
+    self.sub_sockets.append(socket)
+    self.poller.registerSocket(socket.socket)
+
+  def poll(self, timeout):
+    sockets = []
+    cdef int t = timeout
+
+    with nogil:
+      result = self.poller.poll(t)
+
+    for s in result:
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)
+
+    return sockets
+
+cdef class SubSocket:
+  cdef cppSubSocket * socket
+  cdef bool is_owner
+
+  def __cinit__(self):
+    self.socket = cppSubSocket.create()
+    self.is_owner = True
+
+    if self.socket == NULL:
+      raise MessagingError
+
+  def __dealloc__(self):
+    if self.is_owner:
+      del self.socket
+
+  cdef setPtr(self, cppSubSocket * ptr):
+    if self.is_owner:
+      del self.socket
+
+    self.is_owner = False
+    self.socket = ptr
+
+  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
+    r = self.socket.connect(context.context, endpoint, address, conflate)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
+
+  def setTimeout(self, int timeout):
+    self.socket.setTimeout(timeout)
+
+  def receive(self, bool non_blocking=False):
+    msg = self.socket.receive(non_blocking)
+
+    if msg == NULL:
+      # If a blocking read returns no message check errno if SIGINT was caught in the C++ code
+      if errno.errno == errno.EINTR:
+        print("SIGINT received, exiting")
+        sys.exit(1)
+
+      return None
+    else:
+      sz = msg.getSize()
+      m = msg.getData()[:sz]
+      del msg
+
+      return m
+
+
+cdef class PubSocket:
+  cdef cppPubSocket * socket
+
+  def __cinit__(self):
+    self.socket = cppPubSocket.create()
+    if self.socket == NULL:
+      raise MessagingError
+
+  def __dealloc__(self):
+    del self.socket
+
+  def connect(self, Context context, string endpoint):
+    r = self.socket.connect(context.context, endpoint)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
+
+  def send(self, bytes data):
+    length = len(data)
+    r = self.socket.send(<char*>data, length)
+
+    if r != length:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
@@ -23,7 +23,7 @@

 #include <stdio.h>

-#include "msgq/msgq.h"
+#include "cereal/messaging/msgq.h"

 void sigusr2_handler(int signal) {
  assert(signal == SIGUSR2);
@@ -6,7 +6,7 @@
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 15
+#define NUM_READERS 12
 #define ALIGN(n) ((n + (8 - 1)) & -8)

 #define UNUSED(x) (void)x
@@ -7,7 +7,6 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"

-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

 static inline uint64_t nanos_since_boot() {
@@ -16,6 +15,13 @@ static inline uint64_t nanos_since_boot() {
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }

+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
@@ -25,7 +31,7 @@ static inline bool inList(const std::vector<const char *> &list, const char *val

 class MessageContext {
 public:
-  MessageContext() : ctx_(nullptr) {}
+  MessageContext() : ctx_(nullptr) {};
  ~MessageContext() { delete ctx_; }
  inline Context *context() {
    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
@@ -55,9 +61,8 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
                     const char *address, const std::vector<const char *> &ignore_alive) {
  poller_ = Poller::create();
  for (auto name : service_list) {
-    assert(services.count(std::string(name)) > 0);
-
-    service serv = services.at(std::string(name));
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    bool is_polled = inList(poll, name) || poll.empty();
@@ -65,7 +70,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
    SubMessage *m = new SubMessage{
      .name = name,
      .socket = socket,
-      .freq = serv.frequency,
+      .freq = serv->frequency,
      .ignore_alive = inList(ignore_alive, name),
      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
      .is_polled = is_polled};
@@ -179,7 +184,7 @@ uint64_t SubMaster::rcv_time(const char *name) const {

 cereal::Event::Reader &SubMaster::operator[](const char *name) const {
  return services_.at(name)->event;
-}
+};

 SubMaster::~SubMaster() {
  delete poller_;
@@ -194,7 +199,7 @@ SubMaster::~SubMaster() {

 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
-    assert(services.count(name) > 0);
+    assert(get_service(name) != nullptr);
    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
@@ -1,195 +0,0 @@
-#!/usr/bin/env python3
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-import unittest
-from parameterized import parameterized
-
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
-
-def random_sock():
-  return random.choice(events)
-
-def random_socks(num_socks=10):
-  return list({random_sock() for _ in range(num_socks)})
-
-def random_bytes(length=1000):
-  return bytes([random.randrange(0xFF) for _ in range(length)])
-
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
-def zmq_expected_failure(func):
-  if "ZMQ" in os.environ:
-    return unittest.expectedFailure(func)
-  else:
-    return func
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
-  msg = messaging.new_message("carState")
-  cs = msg.carState
-  for f in fields:
-    setattr(cs, f, random.random() * 10)
-  return msg
-
-# TODO: this should compare any capnp structs
-def assert_carstate(cs1, cs2):
-  for f in car.CarState.schema.non_union_fields:
-    # TODO: check all types
-    val1, val2 = getattr(cs1, f), getattr(cs2, f)
-    if isinstance(val1, numbers.Number):
-      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
-
-def delayed_send(delay, sock, dat):
-  def send_func():
-    sock.send(dat)
-  threading.Timer(delay, send_func).start()
-
-
-class TestMessaging(unittest.TestCase):
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      raise unittest.SkipTest
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  @parameterized.expand(events)
-  def test_new_message(self, evt):
-    try:
-      msg = messaging.new_message(evt)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertFalse(msg.valid)
-    self.assertEqual(evt, msg.which())
-
-  @parameterized.expand(events)
-  def test_pub_sock(self, evt):
-    messaging.pub_sock(evt)
-
-  @parameterized.expand(events)
-  def test_sub_sock(self, evt):
-    messaging.sub_sock(evt)
-
-  @parameterized.expand([
-    (messaging.drain_sock, capnp._DynamicStructReader),
-    (messaging.drain_sock_raw, bytes),
-  ])
-  def test_drain_sock(self, func, expected_type):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no wait and no msgs in queue
-    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
-
-    # no wait but msgs are queued up
-    num_msgs = random.randrange(3, 10)
-    for _ in range(num_msgs):
-      pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
-    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
-    self.assertEqual(len(msgs), num_msgs)
-
-  def test_recv_sock(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
-
-    # no wait and no msg in queue, socket should timeout
-    recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
-
-    # no wait and one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    time.sleep(0.01)
-    recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
-    # https://github.com/python/mypy/issues/13038
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no msg in queue, socket should timeout
-    recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @zmq_expected_failure
-  def test_recv_one_or_none(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
-
-    # no msg in queue, socket shouldn't block
-    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one_retry(self):
-    sock = "carState"
-    sock_timeout = 0.1
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 15 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*15)
-      self.assertTrue(p.is_alive())
-      p.terminate()
-
-    # wait 15 socket timeouts before sending
-    msg = random_carstate()
-    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
-    start_time = time.monotonic()
-    recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
-  unittest.main()
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-import random
-import time
-from typing import Sized, cast
-import unittest
-
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
-
-
-class TestSubMaster(unittest.TestCase):
-
-  def setUp(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    sm = messaging.SubMaster(events)
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
-
-  def test_init_state(self):
-    socks = random_socks()
-    sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
-    self.assertFalse(any(sm.updated.values()))
-    self.assertFalse(any(sm.alive.values()))
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
-
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
-
-  def test_getitem(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    sm.update(1000)
-    assert_carstate(msg.carState, sm[sock])
-
-  # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
-  def test_update(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    for i in range(10):
-      msg = messaging.new_message(sock)
-      pub_sock.send(msg.to_bytes())
-      sm.update(1000)
-      self.assertEqual(sm.frame, i)
-      self.assertTrue(all(sm.updated.values()))
-
-  def test_update_timeout(self):
-    sock = random_sock()
-    sm = messaging.SubMaster([sock,])
-    for _ in range(5):
-      timeout = random.randrange(1000, 5000)
-      start_time = time.monotonic()
-      sm.update(timeout)
-      t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
-      self.assertLess(t, 5)
-      self.assertFalse(any(sm.updated.values()))
-
-  def test_avg_frequency_checks(self):
-    for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
-                               poll=("modelV2" if poll else None),
-                               frequency=(20. if not poll else None))
-
-      checks = {
-        "carState": (20, 20),
-        "modelV2": (20, 20 if poll else 10),
-        "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
-        "carParams": (None, None),
-      }
-
-      for service, (max_freq, min_freq) in checks.items():
-        if max_freq is not None:
-          assert sm._check_avg_freq(service)
-          assert sm.max_freq[service] == max_freq*1.2
-          assert sm.min_freq[service] == min_freq*0.8
-        else:
-          assert not sm._check_avg_freq(service)
-
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
-  # SubMaster should always conflate
-  def test_conflate(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-
-    n = 10
-    for i in range(n+1):
-      msg = messaging.new_message(sock)
-      msg.carState.vEgo = i
-      pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
-    sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
-
-
-class TestPubMaster(unittest.TestCase):
-
-  def setUp(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    messaging.PubMaster(events)
-
-  def test_send(self):
-    socks = random_socks()
-    pm = messaging.PubMaster(socks)
-    sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
-
-    # PubMaster accepts either a capnp msg builder or bytes
-    for capnp in [True, False]:
-      for i in range(100):
-        sock = socks[i % len(socks)]
-
-        if capnp:
-          try:
-            msg = messaging.new_message(sock)
-          except Exception:
-            msg = messaging.new_message(sock, random.randrange(50))
-        else:
-          msg = random_bytes()
-
-        pm.send(sock, msg)
-        recvd = sub_socks[sock].receive()
-
-        if capnp:
-          msg.clear_write_flag()
-          msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
-  unittest.main()
@@ -1,25 +0,0 @@
-#!/usr/bin/env python3
-import os
-import tempfile
-from typing import Dict
-import unittest
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices(unittest.TestCase):
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
-  unittest.main()
@@ -1,30 +1,38 @@
 #!/usr/bin/env python3
 from typing import Optional

+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
+
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+

 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
+    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-_services: dict[str, tuple] = {
+services = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
  "gyroscope2": (True, 100., 100),
  "accelerometer": (True, 104., 104),
  "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 100., 100),
  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
+  "temperatureSensor": (True, 100., 100),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
  "controlsState": (True, 100., 10),
-  "pandaStates": (True, 10., 1),
+  "pandaStates": (True, 2., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
  "roadEncodeIdx": (False, 20., 1),
@@ -34,26 +42,24 @@ _services: dict[str, tuple] = {
  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
-  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5, 15),
+  "procLog": (True, 0.5),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
  "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 0.1, 1),
+  "clocks": (True, 1., 1),
  "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20.),
+  "liveLocationKalman": (True, 20., 5),
  "liveParameters": (True, 20., 5),
  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
  "thumbnail": (True, 0.2, 1),
-  "onroadEvents": (True, 1., 1),
+  "carEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
  "driverCameraState": (True, 20., 20),
@@ -62,7 +68,6 @@ _services: dict[str, tuple] = {
  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20., 40),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
@@ -71,7 +76,6 @@ _services: dict[str, tuple] = {
  "navThumbnail": (True, 0.),
  "navModel": (True, 2., 4.),
  "mapRenderState": (True, 2., 1.),
-  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
  "microphone": (True, 10., 10),
@@ -83,30 +87,9 @@ _services: dict[str, tuple] = {
  "driverEncodeData": (False, 20.),
  "wideRoadEncodeData": (False, 20.),
  "qRoadEncodeData": (False, 20.),
-  "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
-  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
-
-  # FrogPilot
-  "frogpilotCarControl": (True, 100., 10),
-  "frogpilotCarParams": (True, 0.02, 1),
-  "frogpilotCarState": (True, 100., 10),
-  "frogpilotControlsState": (True, 100., 10),
-  "frogpilotDeviceState": (True, 2., 1),
-  "frogpilotModelV2": (True, 20., 40),
-  "frogpilotNavigation": (True, 1., 10),
-  "frogpilotOnroadEvents": (True, 1., 1),
-  "frogpilotPlan": (True, 20., 5),
-  "frogpilotRadarState": (True, 20., 5),
 }
-SERVICE_LIST = {name: Service(*vals) for
-                idx, (name, vals) in enumerate(_services.items())}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}


 def build_header():
@@ -114,19 +97,14 @@ def build_header():
  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
  h += "#ifndef __SERVICES_H\n"
  h += "#define __SERVICES_H\n"
-
-  h += "#include <map>\n"
-  h += "#include <string>\n"
-
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
-  h += "static std::map<std::string, service> services = {\n"
-  for k, v in SERVICE_LIST.items():
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
  h += "};\n"
-
  h += "#endif\n"
  return h

--- a/Show More
+++ b/Show More