Remove unused path offset learner

Cancel lane change on blinker off
Add extra engine FW for Corolla LE
2026-08-24 09:43:47 +08:00 · 2020-02-06 13:48:56 -08:00 · 2020-02-06 13:48:20 -08:00 · 2020-02-06 11:22:38 -08:00 · 2020-02-06 10:58:18 -08:00 · 2020-02-06 10:56:01 -08:00
5147 changed files with 1119039 additions and 215423 deletions
@@ -0,0 +1,3 @@
+((c++-mode (flycheck-gcc-language-standard . "c++11")
+           (flycheck-clang-language-standard . "c++11")
+           ))
@@ -1,18 +1,24 @@
-**/.git
+.git
 .DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+chffr/lib/vidindex/vidindex
+chffr/lib/index_log/index_log
+selfdrive/test/simulator2
+**/cache_data
+xx/chffr/lib/index_log/index_log
+xx/chffr/lib/vidindex/vidindex
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk
@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true

-[*.{py,pyx,pxd}]
+[{*.py, *.pyx, *pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2
@@ -1,23 +1,27 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
+*.keras filter=lfs diff=lfs merge=lfs -text
+*.dlc filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.apk filter=lfs diff=lfs merge=lfs -text
+*.ipynb filter=nbstripout -diff
+external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
+models/segnet.keras filter=lfs diff=lfs merge=lfs -text
+external/zmq/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text
+external/zmq/lib/libczmq.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/aarch64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/aarch64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/aarch64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/fastcv/aarch64/libfastcvopt.so filter=lfs diff=lfs merge=lfs -text
+phonelibs/fastcv/aarch64/libfastcvadsp_stub.so filter=lfs diff=lfs merge=lfs -text
+external/mac/MP4Box filter=lfs diff=lfs merge=lfs -text
+models/segnet2.keras filter=lfs diff=lfs merge=lfs -text
+external/opencl/*.deb filter=lfs diff=lfs merge=lfs -text
+phonelibs/zmq/aarch64-linux/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text
+external/azcopy/azcopy filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve openpilot
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**How to reproduce or log data**
+Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Device/Version information (please complete the following information):**
+ - Device: [e.g. EON/EON Gold]
+ - Version: [e.g. 0.6.4], or commit hash when on devel
+ - Car make/model [e.g. Toyota Prius 2016]
+
+**Additional context**
+Add any other context about the problem here.
@@ -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
-
@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki
@@ -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
-
@@ -1,27 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - 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. 
-
-
-->
-
@@ -1,58 +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: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-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
-      id: gha-cache-ro
-      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 }}
@@ -1,52 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, 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: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ 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
@@ -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 2G -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 }} "python3 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
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'commaai/openpilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: commaai/openpilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
@@ -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 }}-${{ github.sha }}
@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
-
-    # Push to docs.comma.ai
-    - 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 .
-
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
-        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
@@ -1,59 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });
@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}
@@ -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"
@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,42 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    env:
-      ImageOS: ubuntu24
-    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 == 'schedule' }}
-      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: Push master-ci
-      run: BRANCH=__nightly release/build_stripped.sh
@@ -1,72 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/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:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - 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
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot
@@ -1,52 +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
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        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:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  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: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # 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 }}
@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-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" # 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 }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} 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" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
@@ -0,0 +1,125 @@
+name: Openpilot Tests
+on: [push, pull_request]
+
+env:
+  RUN: docker run --shm-size 1G --rm tmppilot /bin/sh -c
+  LOAD: docker load -i tmppilot.tar.gz/tmppilot.tar.gz
+  UNIT_TEST: cd /tmp/openpilot && python -m unittest discover
+
+jobs:
+  build:
+    name: build
+    runs-on: ubuntu-16.04
+    steps:
+    - uses: actions/checkout@v2
+    - name: Checkout submodules
+      run: |
+        git submodule update --init
+    - run: |
+        docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot) || true
+        docker pull docker.io/commaai/openpilot:latest || true
+
+        docker build --cache-from docker.io/commaai/openpilot:latest -t tmppilot -f Dockerfile.openpilot .
+        docker save tmppilot:latest | gzip > tmppilot.tar.gz
+    - uses: actions/upload-artifact@v1
+      with:
+        name: tmppilot.tar.gz
+        path: tmppilot.tar.gz
+
+  linter:
+    name: linter
+    runs-on: ubuntu-16.04
+    needs: build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: tmppilot.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: flake8
+        run: $RUN "cd /tmp/openpilot/ && ./flake8_openpilot.sh"
+      - name: pylint
+        run: $RUN "cd /tmp/openpilot/ && ./pylint_openpilot.sh"
+
+  unit_tests:
+    name: unit tests
+    runs-on: ubuntu-16.04
+    needs: build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: tmppilot.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run unit tests
+        run: |
+          $RUN cd /tmp/openpilot/selfdrive/test/test_fingerprints.py
+          $RUN "$UNIT_TEST common"
+          $RUN "$UNIT_TEST opendbc/can"
+          $RUN "$UNIT_TEST selfdrive/boardd"
+          $RUN "$UNIT_TEST selfdrive/controls"
+          $RUN "$UNIT_TEST selfdrive/loggerd"
+          $RUN "$UNIT_TEST selfdrive/car"
+          $RUN "$UNIT_TEST selfdrive/locationd"
+          $RUN "$UNIT_TEST selfdrive/athena"
+
+  process_replay:
+    name: process replay
+    runs-on: ubuntu-16.04
+    needs: build
+    timeout-minutes: 30
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: tmppilot.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run replay
+        run: |
+          CONTAINER_NAME="tmppilot_${GITHUB_SHA}"
+          docker run --shm-size 1G --name ${CONTAINER_NAME} tmppilot /bin/sh -c "cd /tmp/openpilot/selfdrive/test/process_replay && CI=1 ./test_processes.py"
+          docker cp $CONTAINER_NAME:/tmp/openpilot/selfdrive/test/process_replay/diff.txt diff.txt
+          docker rm $CONTAINER_NAME
+      - uses: actions/upload-artifact@v1
+        if: always()
+        with:
+          name: process_replay_diff.txt
+          path: diff.txt
+
+  test_longitudinal:
+    name: longitudinal
+    runs-on: ubuntu-16.04
+    needs: build
+    timeout-minutes: 30
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: tmppilot.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Test longitudinal
+        run: |
+          CONTAINER_NAME="tmppilot_${GITHUB_SHA}"
+          docker run --shm-size 1G --name ${CONTAINER_NAME} tmppilot /bin/sh -c "cd /tmp/openpilot/selfdrive/test/longitudinal_maneuvers && OPTEST=1 ./test_longitudinal.py"
+          mkdir out
+          docker cp $CONTAINER_NAME:/tmp/openpilot/selfdrive/test/longitudinal_maneuvers/out/longitudinal/ out/
+          docker rm $CONTAINER_NAME
+      - uses: actions/upload-artifact@v1
+        if: always()
+        with:
+          name: longitudinal
+          path: out
+
+  test_car_models:
+    name: test car models
+    runs-on: ubuntu-16.04
+    needs: build
+    timeout-minutes: 30
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: tmppilot.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Test car models
+        run: $RUN "mkdir -p /data/params && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models.py"
@@ -1,293 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ 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 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/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 --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - 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 }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
-
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-
-  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'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  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'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - 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: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_raylib_ui_report:
-    name: Create raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    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 raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    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 mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
@@ -1,8 +1,4 @@
 venv/
-.venv/
-.ci_cache
-.env
-.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -10,13 +6,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode
+model2.png
 a.out
-.hypothesis
-.cache/

-/docs_site/
-
-*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -27,71 +20,40 @@ a.out
 .*.un~
 *.tmp
 *.o
-*.o-*
 *.os
-*.os-*
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
-*.mo
-*_pyx.cpp
-*.stats
 config.json
 clcache
-compile_commands.json
-compare_runtime*.html

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

 .coverage*
-coverage.xml
 htmlcov
 pandaextra

-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
-
-# openpilot log files
-*.bz2
-*.zst
-
-build/
-
-!**/.gitkeep
-
-poetry.toml
-Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
@@ -1,18 +1,16 @@
 [submodule "panda"]
-  path = panda
-  url = ../../commaai/panda.git
+	path = panda
+	url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc_repo
-  url = ../../commaai/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = ../../commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = ../../commaai/rednose.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+	path = opendbc
+	url = ../../commaai/opendbc.git
+[submodule "laika_repo"]
+	path = laika_repo
+	url = ../../commaai/laika.git
+[submodule "apks"]
+	path = apks
+	url = ../../commaai/openpilot-apks.git
+[submodule "cereal"]
+	path = cereal
+	url = ../../commaai/cereal.git
+
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false
@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception
@@ -1,8 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-  ]
-}
@@ -1,85 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.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"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "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": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}
@@ -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/**",
-  ]
-}
@@ -0,0 +1,40 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+
+## Getting Started
+
+ * Join our [Discord](https://discord.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork [our repositories](https://github.com/commaai) on GitHub
+
+## Testing
+
+### Local Testing
+
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+
+### Automated Testing
+
+All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+
+### Code Style and Linting
+
+Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+
+## Car Ports (openpilot)
+
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+```
+git submodule init
+git submodule update
+```
+in order to pull down the submodules, such as `panda` and `opendbc`.
@@ -1,14 +1,88 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1

-ENV PYTHONUNBUFFERED=1
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    build-essential \
+    bzip2 \
+    clang \
+    cmake \
+    curl \
+    ffmpeg \
+    git \
+    libarchive-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libffi-dev \
+    libglew-dev \
+    libgles2-mesa-dev \
+    libglfw3-dev \
+    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
+    libssl-dev \
+    libsqlite3-dev \
+    libtool \
+    libusb-1.0-0-dev \
+    libzmq5-dev \
+    locales \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers \
+    python-dev \
+    python-pip \
+    screen \
+    sudo \
+    vim \
+    wget

-ENV OPENPILOT_PATH=/home/batman/openpilot

-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
+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 . ${OPENPILOT_PATH}/
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash

-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
+RUN pip install pipenv==2018.11.26
+
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+
+RUN python --version
+RUN cd /tmp && pipenv install --system --deploy
+
+# Install subset of dev dependencies needed for CI
+RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
+
+ENV PATH="/tmp/openpilot/external/bin:${PATH}"
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
+
+RUN mkdir -p /tmp/openpilot
+COPY ./flake8_openpilot.sh /tmp/openpilot/
+COPY ./pylint_openpilot.sh /tmp/openpilot/
+COPY ./.pylintrc /tmp/openpilot/
+
+COPY ./release /tmp/openpilot/release
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+COPY ./panda /tmp/openpilot/panda
+COPY ./external /tmp/openpilot/external
+COPY ./tools /tmp/openpilot/tools
+
+COPY SConstruct /tmp/openpilot/SConstruct
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN cd /tmp/openpilot && scons -j$(nproc)
@@ -1,81 +0,0 @@
-FROM ubuntu:24.04
-
-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 python3-tk python3-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 tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    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 \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    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=1001
-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 $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -1,115 +1,19 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
+pipeline {
+  agent {
+    docker {
+      image 'python:3.7.3'
+      args '--user=root'
    }
+
  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
-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 CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-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
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    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: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
+  stages {
+    stage('EON Build/Test') {
+      steps {
+        lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_name', quantity: 1){
+          timeout(time: 30, unit: 'MINUTES') {
+            dir(path: 'release') {
+              sh 'pip install paramiko'
+              sh 'python remote_build.py'
            }
          }
        }
@@ -117,153 +21,3 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
    }
  }
 }
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-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 = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}
@@ -0,0 +1,130 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+opencv-python= "==3.4.2.17"
+PyQt5 = "*"
+ipython = "*"
+networkx = "==2.3"
+azure-core = "==1.1.1"
+azure-common = "==1.1.24"
+azure-nspkg = "==3.0.2"
+azure-storage-blob = "==2.1.0"
+azure-storage-common = "==2.1.0"
+azure-storage-nspkg = "==3.1.0"
+boto = "*"
+"boto3" = "*"
+control = "*"
+datadog = "*"
+dlib = "*"
+elasticsearch = "*"
+future = "*"
+futures = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "*"
+imageio = "*"
+ipykernel = "*"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+numpy = "*"
+osmium = "*"
+pbr = "*"
+percache = "*"
+pprofile = "*"
+pycurl = "*"
+git-pylint-commit-hook = "*"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "*"
+python-logstash = "*"
+redis = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+tenacity = "*"
+tensorflow-gpu = "==2.0"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "*"
+scipy = "*"
+fastcluster = "*"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+python-logstash-async = "*"
+seaborn = "*"
+pyproj = "*"
+mock = "*"
+matplotlib = "*"
+dictdiffer = "*"
+aenum = "*"
+coverage = "*"
+azure-cli-core = "*"
+paramiko = "*"
+aiohttp = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+flake8 = "*"
+pylint = "*"
+pycryptodome = "*"
+pillow = "*"
+scons = "*"
+cysignals = "*"
+
+[requires]
+python_version = "3.7.3"
@@ -1,111 +1,306 @@
-<div align="center" style="text-align: center;">
+[![](https://i.imgur.com/UelUjKAh.png)](#)

-<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)
+* [Integration with Stock Features](#integration-with-stock-features)
+* [Supported Hardware](#supported-hardware)
+* [Supported Cars](#supported-cars)
+* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
+* [Installation Instructions](#installation-instructions)
+* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
+* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
+* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
+* [Testing on PC](#testing-on-pc)
+* [Community and Contributing](#community-and-contributing)
+* [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/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/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](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.

 <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://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
  </tr>
 </table>

-
-Using openpilot in a car
+Integration with Stock Features
 ------

-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 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 3X to your car.
+In all supported cars:
+* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
+* Stock LDW is replaced by openpilot LDW.

-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.
+Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
+* Stock ACC is replaced by openpilot ACC.
+* openpilot FCW operates in addition to stock FCW.

+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

-### Branches
-
-Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
-
-| comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
-|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release-mici`         | `release-tizi`         | openpilot.comma.ai                     | This is openpilot's release branch.                                                 |
-| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
-| `nightly`              | `nightly`              | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
-| `nightly-dev`          | `nightly-dev`          | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
-
-To start developing openpilot
+Supported Hardware
 ------

-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).
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.

-* Join the [community Discord](https://discord.comma.ai)
-* Check out [the contributing docs](docs/CONTRIBUTING.md)
-* Check out the [openpilot tools](tools/)
-* Code documentation lives at https://docs.comma.ai
-* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+Supported Cars
+------

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
+| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
+| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+
+<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
+<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+
+Community Maintained Cars and Features
+------
+
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+
+<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
+
+Installation Instructions
+------
+
+Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+
+Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
+
+Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
+
+You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
+
+Limitations of openpilot ALC and LDW
+------
+
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The EON is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot ACC and FCW
+------
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The EON is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot DM
+------
+
+openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver face is partially or completely outside field of view of the driver facing camera.
+* Right hand driving vehicles.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
+
+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road facing camera, 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.
+
+By using openpilot, you agree to [our Privacy Policy](https://my.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.

 Safety and Testing
 ----

-* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/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.
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
+* The safety model code 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 EONs continuously replaying routes.

-<details>
-<summary>MIT Licensed</summary>
+Testing on PC
+------
+
+Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Community and Contributing
+------
+
+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.
+
+You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) 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/). We also have a [bounty program](https://comma.ai/bounties.html).
+
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+Directory Structure
+------
+    .
+    ├── apk                 # The apk files used for the UI
+    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── common              # Library like functionality we've developed here
+    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN
+    ├── phonelibs           # Libraries used on EON
+    ├── pyextra             # Libraries used on EON
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts and images for UI
+        ├── athena          # Allows communication with the app
+        ├── boardd          # Daemon to talk to the board
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── car             # Car specific code to read states and control actuators
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Perception, planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Soon to be home of precise location
+        ├── logcatd         # Android logcat as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── modeld          # Driving and monitoring model runners
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU / GPS interface code
+        ├── tests           # Unit tests, system tests and a car simulator
+        └── ui              # The UI
+
+To understand how the services interact, see `cereal/service_list.yaml`.
+
+Licensing
+------

 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

-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.
+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.**
-</details>

-<details>
-<summary>User Data and comma Account</summary>
+---

-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.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
-
-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.
-</details>
+<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>
@@ -1,599 +1,3 @@
-Version 0.10.4 (2026-02-17)
-========================
-* Lexus LS 2018 support thanks to Hacheoy!
-
-Version 0.10.3 (2025-12-17)
-========================
-* New driving model #36249
-  * New temporal policy architecture
-  * New on-policy training physics noise model
-* New driver monitoring model #36409
-  * Trained on a new dataset, including comma four data
-* Improved inter-process communication memory efficiency
-
-Version 0.10.2 (2025-11-19)
-========================
-* comma four support
-
-Version 0.10.1 (2025-09-08)
-========================
-* New driving model #36276
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * VAE Compression Model: new architecture and training objective
-  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
-
-Version 0.10.0 (2025-08-05)
-========================
-* New driving model
-  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
-  * Low-speed lead car ground-truth fixes
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
-
-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
-  * 30% improved height estimation resulting in better driving performance for tall cars
-* Driver monitoring: removed timer resetting on user interaction if distracted
-* UI updates
-  * Adjust alert volume using ambient noise level
-  * Driver monitoring icon shows driver's head pose
-  * German translation thanks to Vrabetz and CzokNorris!
-* Cadillac Escalade 2017 support thanks to rickygilleland!
-* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
-* Genesis GV60 2023 support thanks to sunnyhaibin!
-* Hyundai Tucson 2022-23 support
-* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
-* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Sorento 2022-23 support thanks to sunnyhaibin!
-* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Toyota C-HR 2021 support thanks to eFiniLan!
-* Toyota C-HR Hybrid 2022 support thanks to Korben00!
-* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
-
-Version 0.9.0 (2022-11-21)
-========================
-* New driving model
-  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
-  * Less reliance on previous frames makes model more reactive and snappy
-  * Trained in new reprojective simulator
-  * Trained in 36 hours from scratch, compared to one week for previous releases
-  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
-* Experimental driving mode
-  * End-to-end longitudinal control
-  * Stops for traffic lights and stop signs
-  * Slows down for turns
-  * openpilot defaults to chill mode, enable experimental mode in settings
-* Driver monitoring updates
-  * New bigger model with added end-to-end distracted trigger
-  * Reduced false positives during driver calibration
-* Self-tuning torque controller: learns parameters live for each car
-* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
-* UI updates
-  * Matched speeds shown on car's dash
-  * Multi-language in navigation
-  * Improved update experience
-  * Border turns grey while overriding steering
-  * Bookmark events while driving; view them in comma connect
-  * New onroad visualization for experimental mode
-* tools: new and improved cabana thanks to deanlee!
-* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
-* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
-* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
-* Kia Sportage 2023 support thanks to sunnyhaibin!
-* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Stinger 2022 support thanks to sunnyhaibin!
-
-Version 0.8.16 (2022-08-26)
-========================
-* New driving model
-  * Reduced turn cutting
-* Auto-detect right hand drive setting with driver monitoring model
-* Improved fan controller for comma three
-* New translations
-  * Japanese thanks to cydia2020!
-  * Brazilian Portuguese thanks to AlexandreSato!
-* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
-* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
-* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
-* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
-* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
-* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
-* Subaru Legacy 2020-22 support thanks to martinl!
-* Subaru Outback 2020-22 support
-
-Version 0.8.15 (2022-07-20)
-========================
-* New driving model
-  * Path planning uses end-to-end output instead of lane lines at all times
-  * Reduced ping pong
-  * Improved lane centering
-* New lateral controller based on physical wheel torque model
-  * Much smoother control that's consistent across the speed range
-  * Effective feedforward that uses road roll
-  * Simplified tuning, all car-specific parameters can be derived from data
-  * Used on select Toyota and Hyundai models at first
-  * Significantly improved control on TSS-P Prius
-* New driver monitoring model
-  * Bigger model, covering full interior view from driver camera
-  * Works with a wider variety of mounting angles
-  * 3x more unique comma three training data than previous
-* Navigation improvements
-  * Speed limits shown while navigating
-  * Faster position fix by using raw GPS measurements
-* UI updates
-  * Multilanguage support for settings and home screen
-  * New font
-  * Refreshed max speed design
-  * More consistent camera view perspective across cars
-* Reduced power usage: device runs cooler and fan spins less
-* AGNOS 5
-  * Support VSCode remote SSH target
-  * Support for delta updates to reduce data usage on future OS updates
-* Chrysler ECU firmware fingerprinting thanks to realfast!
-* Honda Civic 2022 support
-* Hyundai Tucson 2021 support thanks to bluesforte!
-* Kia EV6 2022 support
-* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
-* Ram 1500 2019-21 support thanks to realfast!
-
-Version 0.8.14 (2022-06-01)
-========================
- * New driving model
-   * Bigger model, using both of comma three's road-facing cameras
-   * Better at cut-in detection and tight turns
- * New driver monitoring model
-   * Tweaked network structure to improve output resolution for DSP
-   * Fixed bug in quantization aware training to reduce quantizing errors
-   * Resulted in 7x less MSE and no more random biases at runtime
- * Added toggle to disable disengaging on the accelerator pedal
- * comma body support
- * Audi RS3 support thanks to jyoung8607!
- * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
- * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
- * Toyota Alphard Hybrid 2021 support
- * Toyota Avalon Hybrid 2022 support
- * Toyota RAV4 2022 support
- * Toyota RAV4 Hybrid 2022 support
-
-Version 0.8.13 (2022-02-18)
-========================
- * Improved driver monitoring
-   * Re-tuned driver pose learner for relaxed driving positions
-   * Added reliance on driving model to be more scene adaptive
-   * Matched strictness between comma two and comma three
- * Improved performance in turns by compensating for the road bank angle
- * Improved camera focus on the comma two
- * AGNOS 4
-   * ADB support
-   * improved cell auto configuration
- * NEOS 19
-   * package updates
-   * stability improvements
- * Subaru ECU firmware fingerprinting thanks to martinl!
- * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
- * Mazda CX-5 2022 support thanks to Jafaral!
- * Subaru Impreza 2020 support thanks to martinl!
- * Toyota Avalon 2022 support thanks to sshane!
- * Toyota Prius v 2017 support thanks to CT921!
- * Volkswagen Caravelle 2020 support thanks to jyoung8607!
-
-Version 0.8.12 (2021-12-15)
-========================
- * New driving model
-   * Improved behavior around exits
-   * Better pose accuracy at high speeds, allowing max speed of 90mph
-   * Fully incorporated comma three data into all parts of training stack
- * Improved follow distance
- * Better longitudinal policy, especially in low speed traffic
- * New alert sounds
- * AGNOS 3
-   * Display burn in mitigation
-   * Improved audio amplifier configuration
-   * System reliability improvements
-   * Update Python to 3.8.10
- * Raw logs upload moved to connect.comma.ai
- * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
- * Audi Q3 2020-21 support thanks to jyoung8607!
- * Lexus RC 2020 support thanks to ErichMoraga!
-
-Version 0.8.11 (2021-11-29)
-========================
- * Support for CAN FD on the red panda
- * Support for an external panda on the comma three
- * Navigation: Show more detailed instructions when approaching maneuver
- * Fixed occasional steering faults on GM cars thanks to jyoung8607!
- * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
- * Cadillac Escalade ESV 2016 support thanks to Gibby!
- * Genesis G70 2020 support thanks to tecandrew!
- * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
- * Mazda CX-9 2021 support thanks to Jacar!
- * Volkswagen Polo 2020 support thanks to jyoung8607!
- * Volkswagen T-Roc 2021 support thanks to jyoung8607!
-
-Version 0.8.10 (2021-11-01)
-========================
- * New driving model
-   * Trained on one million minutes!!!
-   * Fixed lead training making lead predictions significantly more accurate
-   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
- * New driver monitoring model
-   * Trained on latest data from both comma two and comma three
-   * Increased model field of view by 40% on comma three
-   * Improved model stability on masked users
-   * Improved pose prediction with reworked ground-truth stack
- * Lateral and longitudinal planning MPCs now in ACADOS
- * Combined longitudinal MPCs
-   * All longitudinal planning now happens in a single MPC system
-   * Fixed instability in MPC problem to prevent sporadic CPU usage
- * AGNOS 2: minor stability improvements and builder repo open sourced
- * tools: new and improved replay thanks to deanlee!
- * Moved community-supported cars outside of the Community Features toggle
- * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
- * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
- * Audi S3 2015 support thanks to jyoung8607!
- * Honda Freed 2020 support thanks to belm0!
- * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
- * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
- * Kia K5 2021 support thanks to sunnyhaibin!
- * Škoda Kamiq 2021 support thanks to jyoung8607!
- * Škoda Karoq 2019 support thanks to jyoung8607!
- * Volkswagen Arteon 2021 support thanks to jyoung8607!
- * Volkswagen California 2021 support thanks to jyoung8607!
- * Volkswagen Taos 2022 support thanks to jyoung8607!
-
-Version 0.8.9 (2021-09-14)
-========================
- * Improved fan control on comma three
- * AGNOS 1.5: improved stability
- * Honda e 2020 support
-
-Version 0.8.8 (2021-08-27)
-========================
- * New driving model with improved laneless performance
-   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
-   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
-   * All new desire ground-truthing stack makes the model better at lane changes
- * New driver monitoring model: improved performance on comma three
- * NEOS 18 for comma two: update packages
- * AGNOS 1.3 for comma three: fix display init at high temperatures
- * Improved auto-exposure on comma three
- * Improved longitudinal control on Honda Nidec cars
- * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
- * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
- * Kia Niro Hybrid 2021 support thanks to tetious!
-
-Version 0.8.7 (2021-07-31)
-========================
- * comma three support!
- * Navigation alpha for the comma three!
- * Volkswagen T-Cross 2021 support thanks to jyoung8607!
-
-Version 0.8.6 (2021-07-21)
-========================
- * Revamp lateral and longitudinal planners
-   * Refactor planner output API to be more readable and verbose
-   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
-   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
- * Remove "CHECK DRIVER FACE VISIBILITY" warning
- * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
- * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
- * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
- * Kia Niro Hybrid 2019 support thanks to jyoung8607!
- * Škoda Octavia RS 2016 support thanks to jyoung8607!
- * Toyota Alphard 2020 support thanks to belm0!
- * Volkswagen Golf SportWagen 2015 support thanks to jona96!
- * Volkswagen Touran 2017 support thanks to jyoung8607!
-
-Version 0.8.5 (2021-06-11)
-========================
- * NEOS update: improved reliability and stability with better voltage regulator configuration
- * Smart model-based Forward Collision Warning
- * CAN-based fingerprinting moved behind community features toggle
- * Improved longitudinal control on Toyotas with a comma pedal
- * Improved auto-brightness using road-facing camera
- * Added "Software" settings page with updater controls
- * Audi Q2 2018 support thanks to jyoung8607!
- * Hyundai Elantra 2021 support thanks to CruiseBrantley!
- * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
- * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
- * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
- * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
-
-Version 0.8.4 (2021-05-17)
-========================
- * Delay controls start until system is ready
- * Fuzzy car identification, enabled with Community Features toggle
- * Localizer optimized for increased precision and less CPU usage
- * Re-tuned lateral control to be more aggressive when model is confident
- * Toyota Mirai 2021 support
- * Lexus NX 300 2020 support thanks to goesreallyfast!
- * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
-
-Version 0.8.3 (2021-04-01)
-========================
- * New model
-   * Trained on new diverse dataset from 2000+ users from 30+ countries
-   * Trained with improved segnet from the comma-pencil community project
-   * 🥬 Dramatically improved end-to-end lateral performance 🥬
- * Toggle added to disable the use of lanelines
- * NEOS update: update packages and support for new UI
- * New offroad UI based on Qt
- * Default SSH key only used for setup
- * Kia Ceed 2019 support thanks to ZanZaD13!
- * Kia Seltos 2021 support thanks to speedking456!
- * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
-
-Version 0.8.2 (2021-02-26)
-========================
- * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
- * Use model heading prediction for smoother lateral control
- * Smarter actuator delay compensation
- * Improve qcamera resolution for improved video in explorer and connect
- * Adjust maximum engagement speed to better fit the model's training distribution
- * New driver monitoring model trained with 3x more diverse data
- * Improved face detection with masks
- * More predictable DM alerts when visibility is bad
- * Rewritten video streaming between openpilot processes
- * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
- * Audi A3 2015 and 2017 support thanks to keeleysam!
- * Nissan Altima 2020 support thanks to avolmensky!
- * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
- * Toyota Camry Hybrid 2021 support thanks to alancyau!
-
-Version 0.8.1 (2020-12-21)
-========================
- * Original EON is deprecated, upgrade to comma two
- * Better model performance in heavy rain
- * Better lane positioning in turns
- * Fixed bug where model would cut turns on empty roads at night
- * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
- * Toyota Camry 2021 with TSS2.5 support
- * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
-
-Version 0.8.0 (2020-11-30)
-========================
- * New driving model: fully 3D and improved cut-in detection
- * UI draws 2 road edges, 4 lanelines and paths in 3D
- * Major fixes to cut-in detection for openpilot longitudinal
- * Grey panda is no longer supported, upgrade to comma two or black panda
- * Lexus NX 2018 support thanks to matt12eagles!
- * Kia Niro EV 2020 support thanks to nickn17!
- * Toyota Prius 2021 support thanks to rav4kumar!
- * Improved lane positioning with uncertain lanelines, wide lanes and exits
- * Improved lateral control for Prius and Subaru
-
-Version 0.7.10 (2020-10-29)
-========================
- * Grey panda is deprecated, upgrade to comma two or black panda
- * NEOS update: update to Python 3.8.2 and lower CPU frequency
- * Improved thermals due to reduced CPU frequency
- * Update SNPE to 1.41.0
- * Reduced offroad power consumption
- * Various system stability improvements
- * Acura RDX 2020 support thanks to csouers!
-
-Version 0.7.9 (2020-10-09)
-========================
- * Improved car battery power management
- * Improved updater robustness
- * Improved realtime performance
- * Reduced UI and modeld lags
- * Increased torque on 2020 Hyundai Sonata and Palisade
-
-Version 0.7.8 (2020-08-19)
-========================
- * New driver monitoring model: improved face detection and better compatibility with sunglasses
- * Download NEOS operating system updates in the background
- * Improved updater reliability and responsiveness
- * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
-
-Version 0.7.7 (2020-07-20)
-========================
- * White panda is no longer supported, upgrade to comma two or black panda
- * Improved vehicle model estimation using high precision localizer
- * Improved thermal management on comma two
- * Improved autofocus for road-facing camera
- * Improved noise performance for driver-facing camera
- * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
- * Fix GM ignition detection
- * Code cleanup and smaller release sizes
- * Hyundai Sonata 2020 promoted to officially supported car
- * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
- * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
-
-Version 0.7.6.1 (2020-06-16)
-========================
- * Hotfix: update kernel on some comma twos (orders #8570-#8680)
-
-Version 0.7.6 (2020-06-05)
-========================
- * White panda is deprecated, upgrade to comma two or black panda
- * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
- * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
- * Huge CPU savings in modeld by using thneed!
- * Lots of code cleanup and refactors
-
-Version 0.7.5 (2020-05-13)
-========================
- * Right-Hand Drive support for both driving and driver monitoring!
- * New driving model: improved at sharp turns and lead speed estimation
- * New driver monitoring model: overall improvement on comma two
- * Driver camera preview in settings to improve mounting position
- * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
- * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
-
-Version 0.7.4 (2020-03-20)
-========================
- * New driving model: improved lane changes and lead car detection
- * Improved driver monitoring model: improve eye detection
- * Improved calibration stability
- * Improved lateral control on some 2019 and 2020 Toyota Prius
- * Improved lateral control on VW Golf: 20% more steering torque
- * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
- * Support for Honda Insight thanks to theantihero!
- * Code cleanup in car abstraction layers and ui
-
-Version 0.7.3 (2020-02-21)
-========================
- * Support for 2020 Highlander thanks to che220!
- * Support for 2018 Lexus NX 300h thanks to kengggg!
- * Speed up ECU firmware query
- * Fix bug where manager would sometimes hang after shutting down the car
-
 Version 0.7.2 (2020-02-07)
 ========================
 * ECU firmware version based fingerprinting for Honda & Toyota
@@ -623,7 +27,7 @@ Version 0.7 (2019-12-13)
 * Improve GM longitudinal control: proper computations for 15Hz radar
 * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
 * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliance
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
 * Forward stock FCW for Honda Nidec
 * Volkswagen port now standard: comma Harness intercepts stock camera

@@ -714,7 +118,7 @@ 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)
@@ -1010,96 +414,96 @@ Version 0.3.4 (2017-07-28)

 Version 0.3.3  (2017-06-28)
 ===========================
- * Improved model trained on more data
- * Alpha CR-V support thanks to energee and johnnwvs!
- * Using the opendbc project for DBC files
- * Minor performance improvements
- * UI update thanks to pjlao307
- * Power off button
- * 6% more torque on the Civic
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic

 Version 0.3.2  (2017-05-22)
 ===========================
- * Minor stability bugfixes
- * Added metrics and rear view mirror disable to settings
- * Update model with more crowdsourced data
+  * Minor stability bugfixes
+  * Added metrics and rear view mirror disable to settings
+  * Update model with more crowdsourced data

 Version 0.3.1  (2017-05-17)
 ===========================
- * visiond stability bugfix
- * Add logging for angle and flashing
+  * visiond stability bugfix
+  * Add logging for angle and flashing

 Version 0.3.0  (2017-05-12)
 ===========================
- * Add CarParams struct to improve the abstraction layer
- * Refactor visiond IPC to support multiple clients
- * Add raw GPS and beginning support for navigation
- * Improve model in visiond using crowdsourced data
- * Add improved system logging to diagnose instability
- * Rewrite baseui in React Native
- * Moved calibration to the cloud
+  * Add CarParams struct to improve the abstraction layer
+  * Refactor visiond IPC to support multiple clients
+  * Add raw GPS and beginning support for navigation
+  * Improve model in visiond using crowdsourced data
+  * Add improved system logging to diagnose instability
+  * Rewrite baseui in React Native
+  * Moved calibration to the cloud

 Version 0.2.9  (2017-03-01)
 ===========================
- * Retain compatibility with NEOS v1
+  * Retain compatibility with NEOS v1

 Version 0.2.8  (2017-02-27)
 ===========================
- * Fix bug where frames were being dropped in minute 71
+  * Fix bug where frames were being dropped in minute 71

 Version 0.2.7  (2017-02-08)
 ===========================
- * Better performance and pictures at night
- * Fix ptr alignment issue in pandad
- * Fix brake error light, fix crash if too cold
+  * Better performance and pictures at night
+  * Fix ptr alignment issue in boardd
+  * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
 ===========================
- * Fix bug in visiond model execution
+  * Fix bug in visiond model execution

 Version 0.2.5  (2017-01-30)
 ===========================
- * Fix race condition in manager
+  * Fix race condition in manager

 Version 0.2.4  (2017-01-27)
 ===========================
- * OnePlus 3T support
- * Enable installation as NEOS app
- * Various minor bugfixes
+  * OnePlus 3T support
+  * Enable installation as NEOS app
+  * Various minor bugfixes

 Version 0.2.3  (2017-01-11)
 ===========================
- * Reduce space usage by 80%
- * Add better logging
- * Add Travis CI
+  * Reduce space usage by 80%
+  * Add better logging
+  * Add Travis CI

 Version 0.2.2  (2017-01-10)
 ===========================
- * Board triggers started signal on CAN messages
- * Improved autoexposure
- * Handle out of space, improve upload status
+  * Board triggers started signal on CAN messages
+  * Improved autoexposure
+  * Handle out of space, improve upload status

 Version 0.2.1  (2016-12-14)
 ===========================
- * Performance improvements, removal of more numpy
- * Fix pandad process priority
- * Make counter timer reset on use of steering wheel
+  * Performance improvements, removal of more numpy
+  * Fix boardd process priority
+  * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
- * controlsd has been refactored
- * Shipped plant model and testing maneuvers
- * visiond exits more gracefully now
- * Hardware encoder in visiond should always init
- * ui now turns off the screen after 30 seconds
- * Switch to openpilot release branch for future releases
- * Added preliminary Docker container to run tests on PC
+  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+  * controlsd has been refactored
+  * Shipped plant model and testing maneuvers
+  * visiond exits more gracefully now
+  * Hardware encoder in visiond should always init
+  * ui now turns off the screen after 30 seconds
+  * Switch to openpilot release branch for future releases
+  * Added preliminary Docker container to run tests on PC

 Version 0.1  (2016-11-29)
 =========================
- * Initial release of openpilot
- * Adaptive cruise control is working
- * Lane keep assist is working
- * Support for Acura ILX 2016 with AcuraWatch Plus
- * Support for Honda Civic 2016 Touring Edition
+  * Initial release of openpilot
+  * Adaptive cruise control is working
+  * Lane keep assist is working
+  * Support for Acura ILX 2016 with AcuraWatch Plus
+  * Support for Honda Civic 2016 Touring Edition
@@ -0,0 +1,34 @@
+openpilot Safety
+======
+
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
+driver to be alert and to pay attention at all times.
+
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
+safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
+used safely** and openpilot is provided with no warranty of fitness for any purpose.
+
+openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
+industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
+ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
+released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
+on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
+hardware-in-the-loop and in-vehicle tests before each software release.
+
+Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
+ensuring two main safety requirements.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.
+
+For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.
@@ -1,223 +1,232 @@
 import os
 import subprocess
 import sys
-import sysconfig
 import platform
-import shlex
-import numpy as np

-import SCons.Errors
+AddOption('--test',
+          action='store_true',
+          help='build test files')

-SCons.Warnings.warningAsException(True)
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')

-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-# Detect platform
 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 os.path.isfile('/TICI'):
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
+
+if arch == "aarch64":
+  lenv = {
+    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
+    "PATH": os.environ['PATH'],
+    "ANDROID_DATA": os.environ['ANDROID_DATA'],
+    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
+  }
+
+  cpppath = [
+    "#phonelibs/opencl/include",
+  ]
+  libpath = [
+    "#phonelibs/snpe/aarch64-android-clang3.8",
+    "/usr/lib",
+    "/data/data/com.termux/files/usr/lib",
+    "/system/vendor/lib64",
+    "/system/comma/usr/lib",
+    "#phonelibs/nanovg",
+    "#phonelibs/libyuv/lib",
+  ]
+
+  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+
+  rpath = ["/system/vendor/lib64"]
+else:
+  lenv = {
+    "PATH": "#external/bin:" + os.environ['PATH'],
+  }
+  cpppath = [
+    "#phonelibs/capnp-cpp/include",
+    "#phonelibs/capnp-c/include",
+    "#phonelibs/zmq/x64/include",
+    "#external/tensorflow/include",
+  ]
+
+  if arch == "Darwin":
+    libpath = [
+      "#phonelibs/capnp-cpp/mac/lib",
+      "#phonelibs/capnp-c/mac/lib",
+      "#phonelibs/libyuv/mac/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/local/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+  else:
+    libpath = [
+      "#phonelibs/capnp-cpp/x64/lib",
+      "#phonelibs/capnp-c/x64/lib",
+      "#phonelibs/snpe/x86_64-linux-clang",
+      "#phonelibs/zmq/x64/lib",
+      "#phonelibs/libyuv/x64/lib",
+      "#external/zmq/lib",
+      "#external/tensorflow/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath = ["phonelibs/capnp-cpp/x64/lib",
+           "phonelibs/zmq/x64/lib",
+           "external/tensorflow/lib",
+           "cereal",
+           "selfdrive/common"]
+
+  # allows shared libraries to work globally
+  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
+
+  cflags = []
+  cxxflags = []
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+# change pythonpath to this
+lenv["PYTHONPATH"] = Dir("#").path

 env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-  },
-  CC='clang',
-  CXX='clang++',
+  ENV=lenv,
  CCFLAGS=[
    "-g",
    "-fPIC",
    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
+    "-Werror=implicit-function-declaration",
+    "-Werror=incompatible-pointer-types",
+    "-Werror=int-conversion",
+    "-Werror=return-type",
+    "-Werror=format-extra-args",
+  ] + cflags + ccflags_asan,
+
+  CPPPATH=cpppath + [
    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
+    "#selfdrive",
+    "#phonelibs/bzip2",
+    "#phonelibs/libyuv/include",
+    "#phonelibs/openmax/include",
+    "#phonelibs/json/src",
+    "#phonelibs/json11",
+    "#phonelibs/eigen",
+    "#phonelibs/curl/include",
+    "#phonelibs/opencv/include",
+    "#phonelibs/libgralloc/include",
+    "#phonelibs/android_frameworks_native/include",
+    "#phonelibs/android_hardware_libhardware/include",
+    "#phonelibs/android_system_core/include",
+    "#phonelibs/linux/include",
+    "#phonelibs/snpe/include",
+    "#phonelibs/nanovg",
+    "#selfdrive/common",
+    "#selfdrive/camerad",
+    "#selfdrive/camerad/include",
+    "#selfdrive/loggerd/include",
+    "#selfdrive/modeld",
+    "#cereal/messaging",
+    "#cereal",
+    "#opendbc/can",
  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
-  ],
-  RPATH=[],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags_asan,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++14"] + cxxflags,
+  LIBPATH=libpath +
+  [
+    "#cereal",
+    "#selfdrive/common",
+    "#phonelibs",
+  ]
 )

-# Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
-  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
+if os.environ.get('SCONS_CACHE'):
+  CacheDir('/tmp/scons_cache')

-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
  global node_count
  node_count += node_interval
  sys.stderr.write("progress: %d\n" % node_count)
+
 if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)

-# ********** 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")
+SHARED = False

-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+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]

-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch')
-
-# Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+#zmq = 'zmq'
+# still needed for apks
+zmq = FindFile("libzmq.a", libpath)
+Export('env', 'arch', 'zmq', 'SHARED')

+# cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
+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')]
+Export('cereal', 'messaging')

-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')

+if SHARED:
+  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+else:
+  common = [_common, 'json']
+  visionipc = _visionipc
+  gpucommon = [_gpucommon] + _gpu_libs

-# Build other submodules
-SConscript(['panda/SConscript'])
+Export('common', 'visionipc', 'gpucommon')

-# Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['opendbc/can/SConscript'])

-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['phonelibs/SConscript'])

-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+if arch != "Darwin":
+  SConscript(['selfdrive/camerad/SConscript'])
+  SConscript(['selfdrive/modeld/SConscript'])

-# Build openpilot
-SConscript(['third_party/SConscript'])
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])

-SConscript(['selfdrive/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])

-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/loggerd/SConscript'])

+if arch == "aarch64":
+  SConscript(['selfdrive/logcatd/SConscript'])
+  SConscript(['selfdrive/sensord/SConscript'])
+  SConscript(['selfdrive/clocksd/SConscript'])

-env.CompilationDatabase('compile_commands.json')
+SConscript(['selfdrive/locationd/SConscript'])
+
+# TODO: finish cereal, dbcbuilder, MPC
@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
@@ -0,0 +1,3 @@
+Place apks here that you want to be installed with the name <app>.apk
+
+These won't be committed into one, but for now baseui will ship with openpilot.
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:309b46b7c38f10da52b18b0340eb3c57b633558a9a27c3ca4116474969ebb456
+size 84675
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d563bc9d43408f78d859538b50999cd7703487bdbe1fba1b11a3810205cd26c4
+size 2856327
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7513530cf08df553395f3fbe9066c42993a34e445924f0aa3e3182c68dce25a3
+size 13642104
@@ -1,95 +0,0 @@
-# What is cereal?
-
-cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
-
-
-## 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 openpilot and your fork.**
-
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
-    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
-    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
---
-
-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)
-```
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
@@ -1,71 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@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.
-
-# DO rename the structs
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct CustomReserved0 @0x81c2f05a394cf4af {
-}
-
-struct CustomReserved1 @0xaedffd8f31e7b55d {
-}
-
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
-}
-
-struct CustomReserved3 @0xda96579883444c35 {
-}
-
-struct CustomReserved4 @0x80ae746ee2596b11 {
-}
-
-struct CustomReserved5 @0xa5cd762cd951a455 {
-}
-
-struct CustomReserved6 @0xf98d843bfd7004a3 {
-}
-
-struct CustomReserved7 @0xb86e6369214c01c8 {
-}
-
-struct CustomReserved8 @0xf416ec09499d9d19 {
-}
-
-struct CustomReserved9 @0xa1680744031fdb2d {
-}
-
-struct CustomReserved10 @0xcb9fd56c7057593a {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct CustomReserved17 @0xa30662f84033036c {
-}
-
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
-}
-
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
-}
@@ -1,574 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x80ef1ec4889c2a63;
-
-# legacy.capnp: a home for deprecated structs
-
-struct LogRotate @0x9811e1f38f62f2d1 {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-struct LiveUI @0xc08240f996aefced {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  awarenessStatus @3 :Float32;
-}
-
-struct UiLayoutState @0x88dcce08ad29dda0 {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-  mockEngaged @3 :Bool;
-
-  enum App @0x9917470acf94d285 {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-    none @4;
-  }
-}
-
-struct OrbslamCorrection @0x8afd33dc9b35e1aa {
-  correctionMonoTime @0 :UInt64;
-  prePositionECEF @1 :List(Float64);
-  postPositionECEF @2 :List(Float64);
-  prePoseQuatECEF @3 :List(Float32);
-  postPoseQuatECEF @4 :List(Float32);
-  numInliers @5 :UInt32;
-}
-
-struct EthernetPacket @0xa99a9d5b33cf5859 {
-  pkt @0 :Data;
-  ts @1 :Float32;
-}
-
-struct CellInfo @0xcff7566681c277ce {
-  timestamp @0 :UInt64;
-  repr @1 :Text; # android toString() for now
-}
-
-struct WifiScan @0xd4df5a192382ba0b {
-  bssid @0 :Text;
-  ssid @1 :Text;
-  capabilities @2 :Text;
-  frequency @3 :Int32;
-  level @4 :Int32;
-  timestamp @5 :Int64;
-
-  centerFreq0 @6 :Int32;
-  centerFreq1 @7 :Int32;
-  channelWidth @8 :ChannelWidth;
-  operatorFriendlyName @9 :Text;
-  venueName @10 :Text;
-  is80211mcResponder @11 :Bool;
-  passpoint @12 :Bool;
-
-  distanceCm @13 :Int32;
-  distanceSdCm @14 :Int32;
-
-  enum ChannelWidth @0xcb6a279f015f6b51 {
-    w20Mhz @0;
-    w40Mhz @1;
-    w80Mhz @2;
-    w160Mhz @3;
-    w80Plus80Mhz @4;
-  }
-}
-
-struct LiveEventData @0x94b7baa90c5c321e {
-  name @0 :Text;
-  value @1 :Int32;
-}
-
-struct ModelData @0xb8aad62cffef28a9 {
-  frameId @0 :UInt32;
-  frameAge @12 :UInt32;
-  frameDropPerc @13 :Float32;
-  timestampEof @9 :UInt64;
-  modelExecutionTime @14 :Float32;
-  gpuExecutionTime @16 :Float32;
-  rawPred @15 :Data;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-  freePath @6 :List(Float32);
-
-  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);
-  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;
-
-  struct PathData @0x8817eeea389e9f08 {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
-    validLen @5 :Float32;
-  }
-
-  struct LeadData @0xd1c9bef96d26fa91 {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
-  }
-
-  struct ModelSettings @0xa26e3710efd3e914 {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-    inputTransform @6 :List(Float32);
-  }
-
-  struct MetaData @0x9744f25fb60f2bf8 {
-    engagedProb @0 :Float32;
-    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-    desireState @5 :List(Float32);
-  }
-
-  struct LongitudinalData @0xf98f999c6a071122 {
-    distances @2 :List(Float32);
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
-  }
-}
-
-struct ECEFPoint @0xc25bbbd524983447 {
-  x @0 :Float64;
-  y @1 :Float64;
-  z @2 :Float64;
-}
-
-struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
-  x @0 :Float32;
-  y @1 :Float32;
-  z @2 :Float32;
-}
-
-struct GPSPlannerPoints @0xab54c59699f8f9f3 {
-  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
-  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
-  curPos @6 :ECEFPoint;
-  points @7 :List(ECEFPoint);
-  valid @2 :Bool;
-  trackName @3 :Text;
-  speedLimit @4 :Float32;
-  accelTarget @5 :Float32;
-}
-
-struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
-  valid @0 :Bool;
-  poly @1 :List(Float32);
-  trackName @2 :Text;
-  speed @3 :Float32;
-  acceleration @4 :Float32;
-  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
-  points @6 :List(ECEFPoint);
-  xLookahead @7 :Float32;
-}
-
-struct UiNavigationEvent @0x90c8426c3eaddd3b {
-  type @0: Type;
-  status @1: Status;
-  distanceTo @2: Float32;
-  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
-  endRoadPoint @4: ECEFPoint;
-
-  enum Type @0xe8db07dcf8fcea05 {
-    none @0;
-    laneChangeLeft @1;
-    laneChangeRight @2;
-    mergeLeft @3;
-    mergeRight @4;
-    turnLeft @5;
-    turnRight @6;
-  }
-
-  enum Status @0xb9aa88c75ef99a1f {
-    none @0;
-    passive @1;
-    approaching @2;
-    active @3;
-  }
-}
-
-struct LiveLocationData @0xb99b2bc7a57e8128 {
-  status @0 :UInt8;
-
-  # 3D fix
-  lat @1 :Float64;
-  lon @2 :Float64;
-  alt @3 :Float32;     # m
-
-  # speed
-  speed @4 :Float32;   # m/s
-
-  # NED velocity components
-  vNED @5 :List(Float32);
-
-  # roll, pitch, heading (x,y,z)
-  roll @6 :Float32;     # WRT to center of earth?
-  pitch @7 :Float32;    # WRT to center of earth?
-  heading @8 :Float32;  # WRT to north?
-
-  # what are these?
-  wanderAngle @9 :Float32;
-  trackAngle @10 :Float32;
-
-  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
-
-  # gyro, in car frame, deg/s
-  gyro @11 :List(Float32);
-
-  # accel, in car frame, m/s^2
-  accel @12 :List(Float32);
-
-  accuracy @13 :Accuracy;
-
-  source @14 :SensorSource;
-  # if we are fixing a location in the past
-  fixMonoTime @15 :UInt64;
-
-  gpsWeek @16 :Int32;
-  timeOfWeek @17 :Float64;
-
-  positionECEF @18 :List(Float64);
-  poseQuatECEF @19 :List(Float32);
-  pitchCalibration @20 :Float32;
-  yawCalibration @21 :Float32;
-  imuFrame @22 :List(Float32);
-
-  struct Accuracy @0x943dc4625473b03f {
-    pNEDError @0 :List(Float32);
-    vNEDError @1 :List(Float32);
-    rollError @2 :Float32;
-    pitchError @3 :Float32;
-    headingError @4 :Float32;
-    ellipsoidSemiMajorError @5 :Float32;
-    ellipsoidSemiMinorError @6 :Float32;
-    ellipsoidOrientationError @7 :Float32;
-  }
-
-  enum SensorSource @0xc871d3cc252af657 {
-    applanix @0;
-    kalman @1;
-    orbslam @2;
-    timing @3;
-    dummy @4;
-  }
-}
-
-struct OrbOdometry @0xd7700859ed1f5b76 {
-  # timing first
-  startMonoTime @0 :UInt64;
-  endMonoTime @1 :UInt64;
-
-  # fundamental matrix and error
-  f @2: List(Float64);
-  err @3: Float64;
-
-  # number of inlier points
-  inliers @4: Int32;
-
-  # for debug only
-  # indexed by endMonoTime features
-  # value is startMonoTime feature match
-  # -1 if no match
-  matches @5: List(Int16);
-}
-
-struct OrbFeatures @0xcd60164a8a0159ef {
-  timestampEof @0 :UInt64;
-  # transposed arrays of normalized image coordinates
-  # len(xs) == len(ys) == len(descriptors) * 32
-  xs @1 :List(Float32);
-  ys @2 :List(Float32);
-  descriptors @3 :Data;
-  octaves @4 :List(Int8);
-
-  # match index to last OrbFeatures
-  # -1 if no match
-  timestampLastEof @5 :UInt64;
-  matches @6: List(Int16);
-}
-
-struct OrbFeaturesSummary @0xd500d30c5803fa4f {
-  timestampEof @0 :UInt64;
-  timestampLastEof @1 :UInt64;
-
-  featureCount @2 :UInt16;
-  matchCount @3 :UInt16;
-  computeNs @4 :UInt64;
-}
-
-struct OrbKeyFrame @0xc8233c0345e27e24 {
-  # this is a globally unique id for the KeyFrame
-  id @0: UInt64;
-
-  # this is the location of the KeyFrame
-  pos @1: ECEFPoint;
-
-  # these are the features in the world
-  # len(dpos) == len(descriptors) * 32
-  dpos @2 :List(ECEFPoint);
-  descriptors @3 :Data;
-}
-
-struct KalmanOdometry @0x92e21bb7ea38793a {
-  trans @0 :List(Float32); # m/s in device frame
-  rot @1 :List(Float32); # rad/s in device frame
-  transStd @2 :List(Float32); # std m/s in device frame
-  rotStd @3 :List(Float32); # std rad/s in device frame
-}
-
-struct OrbObservation @0x9b326d4e436afec7 {
-  observationMonoTime @0 :UInt64;
-  normalizedCoordinates @1 :List(Float32);
-  locationECEF @2 :List(Float64);
-  matchDistance @3: UInt32;
-}
-
-struct CalibrationFeatures @0x8fdfadb254ea867a {
-  frameId @0 :UInt32;
-
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
-}
-
-struct NavStatus @0xbd8822120928120c {
-  isNavigating @0 :Bool;
-  currentAddress @1 :Address;
-
-  struct Address @0xce7cd672cacc7814 {
-    title @0 :Text;
-    lat @1 :Float64;
-    lng @2 :Float64;
-    house @3 :Text;
-    address @4 :Text;
-    street @5 :Text;
-    city @6 :Text;
-    state @7 :Text;
-    country @8 :Text;
-  }
-}
-
-struct NavUpdate @0xdb98be6565516acb {
-  isNavigating @0 :Bool;
-  curSegment @1 :Int32;
-  segments @2 :List(Segment);
-
-  struct LatLng @0x9eaef9187cadbb9b {
-    lat @0 :Float64;
-    lng @1 :Float64;
-  }
-
-  struct Segment @0xa5b39b4fc4d7da3f {
-    from @0 :LatLng;
-    to @1 :LatLng;
-    updateTime @2 :Int32;
-    distance @3 :Int32;
-    crossTime @4 :Int32;
-    exitNo @5 :Int32;
-    instruction @6 :Instruction;
-
-    parts @7 :List(LatLng);
-
-    enum Instruction @0xc5417a637451246f {
-      turnLeft @0;
-      turnRight @1;
-      keepLeft @2;
-      keepRight @3;
-      straight @4;
-      roundaboutExitNumber @5;
-      roundaboutExit @6;
-      roundaboutTurnLeft @7;
-      unkn8 @8;
-      roundaboutStraight @9;
-      unkn10 @10;
-      roundaboutTurnRight @11;
-      unkn12 @12;
-      roundaboutUturn @13;
-      unkn14 @14;
-      arrive @15;
-      exitLeft @16;
-      exitRight @17;
-      unkn18 @18;
-      uturn @19;
-      # ...
-    }
-  }
-}
-
-struct TrafficEvent @0xacfa74a094e62626 {
-  type @0 :Type;
-  distance @1 :Float32;
-  action @2 :Action;
-  resuming @3 :Bool;
-
-  enum Type @0xd85d75253435bf4b {
-    stopSign @0;
-    lightRed @1;
-    lightYellow @2;
-    lightGreen @3;
-    stopLight @4;
-  }
-
-  enum Action @0xa6f6ce72165ccb49 {
-    none @0;
-    yield @1;
-    stop @2;
-    resumeReady @3;
-  }
-
-}
-
-
-struct AndroidGnss @0xdfdf30d03fc485bd {
-  union {
-    measurements @0 :Measurements;
-    navigationMessage @1 :NavigationMessage;
-  }
-
-  struct Measurements @0xa20710d4f428d6cd {
-    clock @0 :Clock;
-    measurements @1 :List(Measurement);
-
-    struct Clock @0xa0e27b453a38f450 {
-      timeNanos @0 :Int64;
-      hardwareClockDiscontinuityCount @1 :Int32;
-
-      hasTimeUncertaintyNanos @2 :Bool;
-      timeUncertaintyNanos @3 :Float64;
-
-      hasLeapSecond @4 :Bool;
-      leapSecond @5 :Int32;
-
-      hasFullBiasNanos @6 :Bool;
-      fullBiasNanos @7 :Int64;
-
-      hasBiasNanos @8 :Bool;
-      biasNanos @9 :Float64;
-
-      hasBiasUncertaintyNanos @10 :Bool;
-      biasUncertaintyNanos @11 :Float64;
-
-      hasDriftNanosPerSecond @12 :Bool;
-      driftNanosPerSecond @13 :Float64;
-
-      hasDriftUncertaintyNanosPerSecond @14 :Bool;
-      driftUncertaintyNanosPerSecond @15 :Float64;
-    }
-
-    struct Measurement @0xd949bf717d77614d {
-      svId @0 :Int32;
-      constellation @1 :Constellation;
-
-      timeOffsetNanos @2 :Float64;
-      state @3 :Int32;
-      receivedSvTimeNanos @4 :Int64;
-      receivedSvTimeUncertaintyNanos @5 :Int64;
-      cn0DbHz @6 :Float64;
-      pseudorangeRateMetersPerSecond @7 :Float64;
-      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
-      accumulatedDeltaRangeState @9 :Int32;
-      accumulatedDeltaRangeMeters @10 :Float64;
-      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-
-      hasCarrierFrequencyHz @12 :Bool;
-      carrierFrequencyHz @13 :Float32;
-      hasCarrierCycles @14 :Bool;
-      carrierCycles @15 :Int64;
-      hasCarrierPhase @16 :Bool;
-      carrierPhase @17 :Float64;
-      hasCarrierPhaseUncertainty @18 :Bool;
-      carrierPhaseUncertainty @19 :Float64;
-      hasSnrInDb @20 :Bool;
-      snrInDb @21 :Float64;
-
-      multipathIndicator @22 :MultipathIndicator;
-
-      enum Constellation @0x9ef1f3ff0deb5ffb {
-        unknown @0;
-        gps @1;
-        sbas @2;
-        glonass @3;
-        qzss @4;
-        beidou @5;
-        galileo @6;
-      }
-
-      enum State @0xcbb9490adce12d72 {
-        unknown @0;
-        codeLock @1;
-        bitSync @2;
-        subframeSync @3;
-        towDecoded @4;
-        msecAmbiguous @5;
-        symbolSync @6;
-        gloStringSync @7;
-        gloTodDecoded @8;
-        bdsD2BitSync @9;
-        bdsD2SubframeSync @10;
-        galE1bcCodeLock @11;
-        galE1c2ndCodeLock @12;
-        galE1bPageSync @13;
-        sbasSync @14;
-      }
-
-      enum MultipathIndicator @0xc04e7b6231d4caa8 {
-        unknown @0;
-        detected @1;
-        notDetected @2;
-      }
-    }
-  }
-
-  struct NavigationMessage @0xe2517b083095fd4e {
-    type @0 :Int32;
-    svId @1 :Int32;
-    messageId @2 :Int32;
-    submessageId @3 :Int32;
-    data @4 :Data;
-    status @5 :Status;
-
-    enum Status @0xec1ff7996b35366f {
-      unknown @0;
-      parityPassed @1;
-      parityRebuilt @2;
-    }
-  }
-}
-
-struct LidarPts @0xe3d6685d4e9d8f7a {
-  r @0 :List(UInt16);        # uint16   m*500.0
-  theta @1 :List(UInt16);    # uint16 deg*100.0
-  reflect @2 :List(UInt8);   # uint8      0-255
-
-  # For storing out of file.
-  idx @3 :UInt64;
-
-  # For storing in file
-  pkt @4 :Data;
-}
-
-
@@ -1,269 +0,0 @@
-# must be built with scons
-from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
-                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-import msgq
-import os
-import capnp
-import time
-
-from typing import Optional, List, Union, Dict
-
-from cereal import log
-from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
-
-NO_TRAVERSAL_LIMIT = 2**64-1
-
-
-def pub_sock(endpoint: str) -> PubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.pub_sock(endpoint, segment_size)
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
-                       timeout=timeout, segment_size=segment_size)
-
-
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
-    return msg
-
-
-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)
-  if service is not None:
-    if size is None:
-      dat.init(service)
-    else:
-      dat.init(service, size)
-  return dat
-
-
-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]
-
-
-# TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
-  dat = None
-
-  while 1:
-    if wait and dat is None:
-      recv = sock.receive()
-    else:
-      recv = sock.receive(non_blocking=True)
-
-    if recv is None:  # Timeout hit
-      break
-
-    dat = recv
-
-  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:
-    dat = sock.receive()
-    if dat is not None:
-      return log_from_bytes(dat)
-
-
-class FrequencyTracker:
-  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
-    freq = max(min(service_freq, update_freq), 1.)
-    if is_poll:
-      min_freq = max_freq = freq
-    else:
-      max_freq = min(freq, update_freq)
-      if service_freq >= 2 * update_freq:
-        min_freq = update_freq
-      elif update_freq >= 2* service_freq:
-        min_freq = freq
-      else:
-        min_freq = min(freq, freq / 2.)
-
-    self.min_freq = min_freq * 0.8
-    self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
-    self.prev_time = 0.0
-
-  def record_recv_time(self, cur_time: float) -> None:
-    # TODO: Handle case where cur_time is less than prev_time
-    if self.prev_time > 1e-5:
-      dt = cur_time - self.prev_time
-
-      self.avg_dt.add_value(dt)
-      self.recent_avg_dt.add_value(dt)
-
-    self.prev_time = cur_time
-
-  @property
-  def valid(self) -> bool:
-    if self.avg_dt.count == 0:
-      return False
-
-    avg_freq = 1.0 / self.avg_dt.get_average()
-    if self.min_freq <= avg_freq <= self.max_freq:
-      return True
-
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
-    return self.min_freq <= avg_freq_recent <= self.max_freq
-
-
-class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[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):
-    self.frame = -1
-    self.services = services
-    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.sock = {}
-    self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
-
-    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
-    self.alive = {s: on_demand[s] for s in services}
-    self.freq_ok = {s: on_demand[s] for s in services}
-    self.valid = {s: on_demand[s] for s in services}
-
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
-    self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
-
-    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)
-
-      try:
-        data = new_message(s)
-      except capnp.lib.capnp.KjException:
-        data = new_message(s, 0) # lists
-
-      self.data[s] = getattr(data.as_reader(), s)
-      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
-
-  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:
-    msgs = []
-    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
-
-    # 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)
-
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
-    self.frame += 1
-    self.updated = dict.fromkeys(self.services, False)
-    for msg in msgs:
-      if msg is None:
-        continue
-
-      s = msg.which()
-      self.seen[s] = True
-      self.updated[s] = True
-
-      self.freq_tracker[s].record_recv_time(cur_time)
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
-      self.data[s] = getattr(msg, s)
-      self.logMonoTime[s] = msg.logMonoTime
-      self.valid[s] = msg.valid
-
-    for s in self.static_freq_services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
-
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
-
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
-
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.valid[s] for s in (service_list or self.services) 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)
-
-
-class PubMaster:
-  def __init__(self, services: List[str]):
-    self.sock = {}
-    for s in services:
-      self.sock[s] = pub_sock(s)
-
-  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
-    if not isinstance(dat, bytes):
-      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
@@ -1,72 +0,0 @@
-#include <cassert>
-
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
-#include "common/util.h"
-
-ExitHandler do_exit;
-
-static std::vector<std::string> get_services(const 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;
-    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
-      continue;
-    }
-    service_list.push_back(name);
-  }
-  return service_list;
-}
-
-void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  MsgqToZmq bridge;
-  bridge.run(endpoints, ip);
-}
-
-void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
-
-  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    size_t queue_size = services.at(endpoint).queue_size;
-    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
-    sub_sock->connect(sub_context.get(), endpoint, ip, false);
-
-    poller->registerSocket(sub_sock);
-    sub2pub[sub_sock] = pub_sock;
-  }
-
-  while (!do_exit) {
-    for (auto sub_sock : poller->poll(100)) {
-      std::unique_ptr<Message> msg(sub_sock->receive(true));
-      if (msg) {
-        sub2pub[sub_sock]->sendMessage(msg.get());
-      }
-    }
-  }
-
-  // Clean up allocated sockets
-  for (auto &[sub_sock, pub_sock] : sub2pub) {
-    delete sub_sock;
-    delete pub_sock;
-  }
-}
-
-int main(int argc, char **argv) {
-  bool is_zmq_to_msgq = argc > 2;
-  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
-  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
-
-  if (is_zmq_to_msgq) {
-    zmq_to_msgq(endpoints, ip);
-  } else {
-    msgq_to_zmq(endpoints, ip);
-  }
-  return 0;
-}
@@ -1,102 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <map>
-#include <string>
-#include <vector>
-#include <utility>
-
-#include <capnp/serialize.h>
-
-#include "cereal/gen/cpp/log.capnp.h"
-#include "common/timing.h"
-#include "msgq/ipc.h"
-
-class SubMaster {
-public:
-  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
-            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
-  void update(int timeout = 1000);
-  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
-  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
-  void drain();
-  ~SubMaster();
-
-  uint64_t frame = 0;
-  bool updated(const char *name) const;
-  bool alive(const char *name) const;
-  bool valid(const char *name) const;
-  uint64_t rcv_frame(const char *name) const;
-  uint64_t rcv_time(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name) const;
-
-private:
-  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
-  Poller *poller_ = nullptr;
-  struct SubMessage;
-  std::map<SubSocket *, SubMessage *> messages_;
-  std::map<std::string, SubMessage *> services_;
-};
-
-class MessageBuilder : public capnp::MallocMessageBuilder {
-public:
-  MessageBuilder() = default;
-
-  cereal::Event::Builder initEvent(bool valid = true) {
-    cereal::Event::Builder event = initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-    event.setValid(valid);
-    return event;
-  }
-
-  kj::ArrayPtr<capnp::byte> toBytes() {
-    heapArray_ = capnp::messageToFlatArray(*this);
-    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_;
-};
-
-class PubMaster {
-public:
-  PubMaster(const std::vector<const char *> &service_list);
-  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
-  int send(const char *name, MessageBuilder &msg);
-  ~PubMaster();
-
-private:
-  std::map<std::string, PubSocket *> sockets_;
-};
-
-class AlignedBuffer {
-public:
-  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
-    words_size = size / sizeof(capnp::word) + 1;
-    if (aligned_buf.size() < words_size) {
-      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
-    }
-    memcpy(aligned_buf.begin(), data, size);
-    return aligned_buf.slice(0, words_size);
-  }
-  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
-    return align(m->getData(), m->getSize());
-  }
-private:
-  kj::Array<capnp::word> aligned_buf;
-  size_t words_size;
-};
@@ -1,146 +0,0 @@
-#include "cereal/messaging/msgq_to_zmq.h"
-
-#include <cassert>
-
-#include "cereal/services.h"
-#include "common/util.h"
-
-extern ExitHandler do_exit;
-
-// Max messages to process per socket per poll
-constexpr int MAX_MESSAGES_PER_SOCKET = 50;
-
-static std::string recv_zmq_msg(void *sock) {
-  zmq_msg_t msg;
-  zmq_msg_init(&msg);
-  std::string ret;
-  if (zmq_msg_recv(&msg, sock, 0) > 0) {
-    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
-
-  // Create ZMQPubSockets for each endpoint
-  for (const auto &endpoint : endpoints) {
-    auto &socket_pair = socket_pairs.emplace_back();
-    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
-    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
-    if (ret != 0) {
-      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
-      return;
-    }
-  }
-
-  // Start ZMQ monitoring thread to monitor socket events
-  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
-
-  // Main loop for processing messages
-  while (!do_exit) {
-    {
-      std::unique_lock lk(mutex);
-      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
-      if (do_exit) break;
-
-      for (auto sub_sock : msgq_poller->poll(100)) {
-        // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
-        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
-          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
-          if (!msg) break;
-
-          while (pub_sock->sendMessage(msg.get()) == -1) {
-            if (errno != EINTR) break;
-          }
-        }
-      }
-    }
-    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
-  }
-
-  thread.join();
-}
-
-void MsgqToZmq::zmqMonitorThread() {
-  std::vector<zmq_pollitem_t> pollitems;
-
-  // Set up ZMQ monitor for each pub socket
-  for (int i = 0; i < socket_pairs.size(); ++i) {
-    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
-
-    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
-    zmq_connect(monitor_socket, addr.c_str());
-    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
-  }
-
-  while (!do_exit) {
-    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
-    if (ret < 0) {
-      if (errno == EINTR) {
-        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
-        // to reduce CPU usage during retry attempts.
-        util::sleep_for(200);
-      }
-      continue;
-    }
-
-    for (int i = 0; i < pollitems.size(); ++i) {
-      if (pollitems[i].revents & ZMQ_POLLIN) {
-        // First frame in message contains event number and value
-        std::string frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        uint16_t event_type = *(uint16_t *)(frame.data());
-
-        // Second frame in message contains event address
-        frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        std::unique_lock lk(mutex);
-        auto &pair = socket_pairs[i];
-        if (event_type & ZMQ_EVENT_ACCEPTED) {
-          printf("socket [%s] connected\n", pair.endpoint.c_str());
-          if (++pair.connected_clients == 1) {
-            // Create new MSGQ subscriber socket and map to ZMQ publisher
-            pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            size_t queue_size = services.at(pair.endpoint).queue_size;
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
-            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
-            registerSockets();
-          }
-        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
-          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
-          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
-            // Remove MSGQ subscriber socket from mapping and reset it
-            sub2pub.erase(pair.sub_sock.get());
-            pair.sub_sock.reset(nullptr);
-            registerSockets();
-          }
-        }
-        cv.notify_one();
-      }
-    }
-  }
-
-  // Clean up monitor sockets
-  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
-    zmq_close(pollitems[i].socket);
-  }
-  cv.notify_one();
-}
-
-void MsgqToZmq::registerSockets() {
-  msgq_poller = std::make_unique<MSGQPoller>();
-  for (const auto &socket_pair : socket_pairs) {
-    if (socket_pair.sub_sock) {
-      msgq_poller->registerSocket(socket_pair.sub_sock.get());
-    }
-  }
-}
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <condition_variable>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <vector>
-
-#define private public
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
-
-class MsgqToZmq {
-public:
-  MsgqToZmq() {}
-  void run(const std::vector<std::string> &endpoints, const std::string &ip);
-
-protected:
-  void registerSockets();
-  void zmqMonitorThread();
-
-  struct SocketPair {
-    std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
-    std::unique_ptr<MSGQSubSocket> sub_sock;
-    int connected_clients = 0;
-  };
-
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
-  std::mutex mutex;
-  std::condition_variable cv;
-  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
-  std::vector<SocketPair> socket_pairs;
-};
@@ -1,204 +0,0 @@
-#include <assert.h>
-#include <stdlib.h>
-#include <string>
-#include <mutex>
-
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
-
-const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
-
-static inline bool inList(const std::vector<const char *> &list, const char *value) {
-  for (auto &v : list) {
-    if (strcmp(value, v) == 0) return true;
-  }
-  return false;
-}
-
-class MessageContext {
-public:
-  MessageContext() : ctx_(nullptr) {}
-  ~MessageContext() { delete ctx_; }
-  inline Context *context() {
-    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
-    return ctx_;
-  }
-private:
-  Context *ctx_;
-  std::once_flag init_flag;
-};
-
-MessageContext message_context;
-
-struct SubMaster::SubMessage {
-  std::string name;
-  SubSocket *socket = nullptr;
-  float freq = 0.0f;
-  bool updated = false, alive = false, valid = false, ignore_alive;
-  uint64_t rcv_time = 0, rcv_frame = 0;
-  void *allocated_msg_reader = nullptr;
-  bool is_polled = false;
-  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  AlignedBuffer aligned_buf;
-  cereal::Event::Reader event;
-};
-
-SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
-                     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));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
-    assert(socket != 0);
-    bool is_polled = inList(poll, name) || poll.empty();
-    if (is_polled) poller_->registerSocket(socket);
-    SubMessage *m = new SubMessage{
-      .name = name,
-      .socket = socket,
-      .freq = serv.frequency,
-      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .is_polled = is_polled};
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
-    messages_[socket] = m;
-    services_[name] = m;
-  }
-}
-
-void SubMaster::update(int timeout) {
-  for (auto &kv : messages_) kv.second->updated = false;
-
-  auto sockets = poller_->poll(timeout);
-
-  // add non-polled sockets for non-blocking receive
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    SubSocket *s = kv.first;
-    if (!m->is_polled) sockets.push_back(s);
-  }
-
-  uint64_t current_time = nanos_since_boot();
-
-  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
-
-  for (auto s : sockets) {
-    Message *msg = s->receive(true);
-    if (msg == nullptr) continue;
-
-    SubMessage *m = messages_.at(s);
-
-    m->msg_reader->~FlatArrayMessageReader();
-    capnp::ReaderOptions options;
-    options.traversalLimitInWords = kj::maxValue; // Don't limit
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
-    delete msg;
-    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
-  }
-
-  update_msgs(current_time, messages);
-}
-
-void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
-  if (++frame == UINT64_MAX) frame = 1;
-
-  for (auto &kv : messages) {
-    auto m_find = services_.find(kv.first);
-    if (m_find == services_.end()){
-      continue;
-    }
-    SubMessage *m = m_find->second;
-    m->event = kv.second;
-    m->updated = true;
-    m->rcv_time = current_time;
-    m->rcv_frame = frame;
-    m->valid = m->event.getValid();
-    if (SIMULATION) m->alive = true;
-  }
-
-  if (!SIMULATION) {
-    for (auto &kv : messages_) {
-      SubMessage *m = kv.second;
-      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
-    }
-  }
-}
-
-bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
-  int found = 0;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
-    }
-  }
-  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
-}
-
-void SubMaster::drain() {
-  while (true) {
-    auto polls = poller_->poll(0);
-    if (polls.size() == 0)
-      break;
-
-    for (auto sock : polls) {
-      Message *msg = sock->receive(true);
-      delete msg;
-    }
-  }
-}
-
-bool SubMaster::updated(const char *name) const {
-  return services_.at(name)->updated;
-}
-
-bool SubMaster::alive(const char *name) const {
-  return services_.at(name)->alive;
-}
-
-bool SubMaster::valid(const char *name) const {
-  return services_.at(name)->valid;
-}
-
-uint64_t SubMaster::rcv_frame(const char *name) const {
-  return services_.at(name)->rcv_frame;
-}
-
-uint64_t SubMaster::rcv_time(const char *name) const {
-  return services_.at(name)->rcv_time;
-}
-
-cereal::Event::Reader &SubMaster::operator[](const char *name) const {
-  return services_.at(name)->event;
-}
-
-SubMaster::~SubMaster() {
-  delete poller_;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->msg_reader->~FlatArrayMessageReader();
-    free(m->allocated_msg_reader);
-    delete m->socket;
-    delete m;
-  }
-}
-
-PubMaster::PubMaster(const std::vector<const char *> &service_list) {
-  for (auto name : service_list) {
-    assert(services.count(name) > 0);
-    service serv = services.at(std::string(name));
-    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
-    assert(socket);
-    sockets_[name] = socket;
-  }
-}
-
-int PubMaster::send(const char *name, MessageBuilder &msg) {
-  auto bytes = msg.toBytes();
-  return send(name, bytes.begin(), bytes.size());
-}
-
-PubMaster::~PubMaster() {
-  for (auto s : sockets_) delete s.second;
-}
@@ -1,185 +0,0 @@
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-from parameterized import parameterized
-import pytest
-
-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)
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "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:
-  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:
-      pytest.skip()
-
-    # 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))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert 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)
-    assert isinstance(msgs, list)
-    assert 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)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert 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)
-    assert 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)
-    assert isinstance(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)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
-  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)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(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 5 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*5)
-      assert p.is_alive()
-      p.terminate()
-
-    # wait 5 socket timeouts before sending
-    msg = random_carstate()
-    start_time = time.monotonic()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
-    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
@@ -1,160 +0,0 @@
-import random
-import time
-from typing import Sized, cast
-
-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
-from cereal.services import SERVICE_LIST
-
-
-class TestSubMaster:
-
-  def setup_method(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]:
-      assert len(cast(Sized, p)) == len(events)
-
-  def test_init_state(self):
-    socks = random_socks()
-    sm = messaging.SubMaster(socks)
-    assert sm.frame == -1
-    assert not any(sm.updated.values())
-    assert not any(sm.seen.values())
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
-    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
-    assert all(t == 0. for t in sm.recv_time.values())
-    assert all(f == 0 for f in sm.recv_frame.values())
-    assert 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]:
-      assert 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)
-      assert sm.frame == i
-      assert all(sm.updated.values())
-
-  def test_update_timeout(self):
-    sock = random_sock()
-    sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
-    start_time = time.monotonic()
-    sm.update(timeout)
-    t = time.monotonic() - start_time
-    assert t >= timeout/1000.
-    assert t < 3
-    assert not 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),
-        "userBookmark": (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.freq_tracker[service].max_freq == max_freq*1.2
-          assert sm.freq_tracker[service].min_freq == 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)
-    assert sm[sock].vEgo == n
-
-
-class TestPubMaster:
-
-  def setup_method(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()
-        assert msg == recvd, i
@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"
@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-from enum import IntEnum
-from typing import Optional
-
-
-# TODO: this should be automatically determined using the capnp schema
-class QueueSize(IntEnum):
-  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
-  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
-  SMALL = 250 * 1024          # 250KB - most services
-
-
-class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
-               queue_size: QueueSize = QueueSize.SMALL):
-    self.should_log = should_log
-    self.frequency = frequency
-    self.decimation = decimation
-    self.queue_size = queue_size
-
-
-_services: dict[str, tuple] = {
-  # service: (should_log, frequency, qlog decimation (optional))
-  # note: the "EncodeIdx" packets will still be in the log
-  "gyroscope": (True, 104., 104),
-  "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
-  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
-  "selfdriveState": (True, 100., 10),
-  "pandaStates": (True, 10., 1),
-  "peripheralState": (True, 2., 1),
-  "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "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., 10),
-  "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15, QueueSize.BIG),
-  "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
-  "ubloxGnss": (True, 10.),
-  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 0.1, 1),
-  "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
-  "onroadEvents": (True, 1., 1),
-  "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
-  "driverStateV2": (True, 20., 10),
-  "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 1),
-  "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., None, QueueSize.BIG),
-  "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
-  "qRoadEncodeIdx": (False, 20.),
-  "userBookmark": (True, 0., 1),
-  "soundPressure": (True, 10., 10),
-  "rawAudioData": (False, 20.),
-  "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
-  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
-
-  # debug
-  "uiDebug": (True, 0., 1),
-  "testJoystick": (True, 0.),
-  "alertDebug": (True, 20., 5),
-  "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
-}
-SERVICE_LIST = {name: Service(*vals) for
-                idx, (name, vals) in enumerate(_services.items())}
-
-
-def build_header():
-  h = ""
-  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; float frequency; int decimation; size_t queue_size; };\n"
-  h += "static std::map<std::string, 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, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
-  h += "};\n"
-
-  h += "#endif\n"
-  return h
-
-
-if __name__ == "__main__":
-  print(build_header())
@@ -1,24 +1,6 @@
-Import('env', 'envCython', 'arch')
+Import('env')

-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-  'clutil.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')
+# parser
+env.Command(['common_pyx.so'],
+  ['common_pyx_setup.py', 'clock.pyx'],
+  "cd common && python3 common_pyx_setup.py build_ext --inplace")
@@ -0,0 +1,130 @@
+import os
+import binascii
+import itertools
+import re
+import struct
+import subprocess
+import random
+from cereal import log
+
+NetworkType = log.ThermalData.NetworkType
+
+ANDROID = os.path.isfile('/EON')
+
+def getprop(key):
+  if not ANDROID:
+    return ""
+  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
+
+def get_imei(slot):
+  slot = str(slot)
+  if slot not in ("0", "1"):
+    raise ValueError("SIM slot must be 0 or 1")
+
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
+  if not ret:
+    # allow non android to be identified differently
+    ret = "%015d" % random.randint(0, 1<<32)
+  return ret
+
+def get_serial():
+  ret = getprop("ro.serialno")
+  if ret == "":
+    ret = "cccccccc"
+  return ret
+
+def get_subscriber_info():
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+  if ret is None or len(ret) < 8:
+    return ""
+  return ret
+
+def reboot(reason=None):
+  if reason is None:
+    reason_args = ["null"]
+  else:
+    reason_args = ["s16", reason]
+
+  subprocess.check_output([
+    "service", "call", "power", "16", # IPowerManager.reboot
+    "i32", "0", # no confirmation,
+    *reason_args,
+    "i32", "1" # wait
+  ])
+
+def service_call(call):
+  if not ANDROID:
+    return None
+
+  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+  if 'Parcel' not in ret:
+    return None
+
+  return parse_service_call_bytes(ret)
+
+def parse_service_call_unpack(r, fmt):
+  try:
+    return struct.unpack(fmt, r)[0]
+  except Exception:
+    return None
+
+def parse_service_call_string(r):
+  try:
+    r = r[8:] # Cut off length field
+    r = r.decode('utf_16_be')
+
+    # All pairs of two characters seem to be swapped. Not sure why
+    result = ""
+    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
+        result += b + a
+
+    result = result.replace('\x00', '')
+
+    return result
+  except Exception:
+    return None
+
+def parse_service_call_bytes(ret):
+  try:
+    r = b""
+    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
+      r += binascii.unhexlify(hex_part)
+    return r
+  except Exception:
+    return None
+
+def get_network_type():
+  if not ANDROID:
+    return NetworkType.none
+
+  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+  if wifi_check is None:
+    return NetworkType.none
+  elif 'WIFI' in wifi_check:
+    return NetworkType.wifi
+  else:
+    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+    # from TelephonyManager.java
+    cell_networks = {
+      0: NetworkType.none,
+      1: NetworkType.cell2G,
+      2: NetworkType.cell2G,
+      3: NetworkType.cell3G,
+      4: NetworkType.cell2G,
+      5: NetworkType.cell3G,
+      6: NetworkType.cell3G,
+      7: NetworkType.cell3G,
+      8: NetworkType.cell3G,
+      9: NetworkType.cell3G,
+      10: NetworkType.cell3G,
+      11: NetworkType.cell2G,
+      12: NetworkType.cell3G,
+      13: NetworkType.cell4G,
+      14: NetworkType.cell4G,
+      15: NetworkType.cell3G,
+      16: NetworkType.cell2G,
+      17: NetworkType.cell3G,
+      18: NetworkType.cell4G,
+      19: NetworkType.cell4G
+    }
+    return cell_networks.get(cell_check, NetworkType.none)
@@ -1,62 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    self.jwt_algorithm, self.private_key, _ = get_key_pair()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  # TODO: add session to Api
-  req = requests if session is None else session
-  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  for key in KEYS:
-    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-        return KEYS[key], private.read(), public.read()
-  return None, None, None
@@ -0,0 +1,42 @@
+import jwt
+import requests
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
+from selfdrive.version import version
+
+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  backend = "https://api.commadotai.com/"
+
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT "+access_token
+
+  headers['User-Agent'] = "openpilot-" + version
+
+  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+
@@ -0,0 +1,99 @@
+import os
+import subprocess
+import glob
+import hashlib
+import shutil
+from common.basedir import BASEDIR
+from selfdrive.swaglog import cloudlog
+
+android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
+
+def get_installed_apks():
+  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
+  ret = {}
+  for x in dat:
+    if x.startswith("package:"):
+      v,k = x.split("package:")[1].split("=")
+      ret[k] = v
+  return ret
+
+def install_apk(path):
+  # can only install from world readable path
+  install_path = "/sdcard/%s" % os.path.basename(path)
+  shutil.copyfile(path, install_path)
+
+  ret = subprocess.call(["pm", "install", "-r", install_path])
+  os.remove(install_path)
+  return ret == 0
+
+def start_frame():
+  set_package_permissions()
+  system("am start -n ai.comma.plus.frame/.MainActivity")
+
+def set_package_permissions():
+  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
+  appops_set("ai.comma.plus.offroad", "SU", "allow")
+  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
+  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
+  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
+
+def appops_set(package, op, mode):
+  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
+
+def pm_grant(package, permission):
+  system(f"pm grant {package} {permission}")
+
+def system(cmd):
+  try:
+    cloudlog.info("running %s" % cmd)
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError as e:
+    cloudlog.event("running failed",
+      cmd=e.cmd,
+      output=e.output[-1024:],
+      returncode=e.returncode)
+
+# *** external functions ***
+
+def update_apks():
+  # install apks
+  installed = get_installed_apks()
+
+  install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
+  for apk in install_apks:
+    app = os.path.basename(apk)[:-4]
+    if app not in installed:
+      installed[app] = None
+
+  cloudlog.info("installed apks %s" % (str(installed), ))
+
+  for app in installed.keys():
+    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
+    if not os.path.exists(apk_path):
+      continue
+
+    h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
+    h2 = None
+    if installed[app] is not None:
+      h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
+      cloudlog.info("comparing version of %s  %s vs %s" % (app, h1, h2))
+
+    if h2 is None or h1 != h2:
+      cloudlog.info("installing %s" % app)
+
+      success = install_apk(apk_path)
+      if not success:
+        cloudlog.info("needing to uninstall %s" % app)
+        system("pm uninstall %s" % app)
+        success = install_apk(apk_path)
+
+      assert success
+
+def pm_apply_packages(cmd):
+  for p in android_packages:
+    system("pm %s %s" % (cmd, p))
+
+if __name__ == "__main__":
+  update_apks()
+
@@ -1,4 +1,11 @@
 import os
-
-
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+from common.android import ANDROID
+if ANDROID:
+  PERSIST = "/persist"
+  PARAMS = "/data/params"
+else:
+  PERSIST = os.path.join(BASEDIR, "persist")
+  PARAMS = os.path.join(BASEDIR, "persist", "params")
+
@@ -0,0 +1,22 @@
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
+
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
+
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
+
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
+
+def monotonic_time():
+  return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return readclock(CLOCK_BOOTTIME)
+
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
@@ -0,0 +1,150 @@
+import os
+import numpy as np
+import collections
+from contextlib import closing
+
+from common.file_helpers import mkdirs_exists_ok
+
+class ColumnStoreReader():
+  def __init__(self, path, mmap=False, allow_pickle=False, direct_io=False):
+    if not (path and os.path.isdir(path)):
+      raise ValueError("Not a column store: {}".format(path))
+
+    self._path = os.path.realpath(path)
+    self._keys = os.listdir(self._path)
+    self._mmap = mmap
+    self._allow_pickle = allow_pickle
+    self._direct_io = direct_io
+
+  @property
+  def path(self):
+    return self._path
+
+  def close(self):
+    pass
+
+  def get(self, key):
+    try:
+      return self[key]
+    except KeyError:
+      return None
+
+  def keys(self):
+    return list(self._keys)
+
+  def iteritems(self):
+    for k in self:
+      yield (k, self[k])
+
+  def itervalues(self):
+    for k in self:
+      yield self[k]
+
+  def get_npy_path(self, key):
+    """Gets a filesystem path for an npy file containing the specified array,
+       or none if the column store does not contain key.
+    """
+    if key in self:
+      return os.path.join(self._path, key)
+    else:
+      return None
+
+  def __getitem__(self, key):
+    try:
+      path = os.path.join(self._path, key)
+
+      # TODO(mgraczyk): This implementation will need to change for zip.
+      if os.path.isdir(path):
+        return ColumnStoreReader(path)
+      else:
+        if self._mmap:
+          # note that direct i/o does nothing for mmap since file read/write interface is not used
+          ret = np.load(path, mmap_mode='r', allow_pickle=self._allow_pickle, fix_imports=False)
+        else:
+          if self._direct_io:
+            opener = lambda path, flags: os.open(path, os.O_RDONLY | os.O_DIRECT)
+            with open(path, 'rb', buffering=0, opener=opener) as f:
+              ret = np.load(f, allow_pickle=self._allow_pickle, fix_imports=False)
+          else:
+            ret = np.load(path, allow_pickle=self._allow_pickle, fix_imports=False)
+        if type(ret) == np.lib.npyio.NpzFile:
+          # if it's saved as compressed, it has arr_0 only in the file. deref this
+          return ret['arr_0']
+        else:
+          return ret
+    except IOError:
+      raise KeyError(key)
+
+  def __contains__(self, item):
+    try:
+      self[item]
+      return True
+    except KeyError:
+      return False
+
+  def __len__(self):
+    return len(self._keys)
+
+  def __bool__(self):
+    return bool(self._keys)
+
+  def __iter__(self):
+    return iter(self._keys)
+
+  def __str__(self):
+    return "ColumnStoreReader({})".format(str({k: "..." for k in self._keys}))
+
+  def __enter__(self): return self
+  def __exit__(self, type, value, traceback): self.close()
+
+class ColumnStoreWriter():
+  def __init__(self, path, allow_pickle=False):
+    self._path = path
+    self._allow_pickle = allow_pickle
+    mkdirs_exists_ok(self._path)
+
+  def map_column(self, path, dtype, shape):
+    npy_path = os.path.join(self._path, path)
+    mkdirs_exists_ok(os.path.dirname(npy_path))
+    return np.lib.format.open_memmap(npy_path, mode='w+', dtype=dtype, shape=shape)
+
+  def add_column(self, path, data, dtype=None, compression=False, overwrite=False):
+    npy_path = os.path.join(self._path, path)
+    mkdirs_exists_ok(os.path.dirname(npy_path))
+
+    if overwrite:
+      f = open(npy_path, "wb")
+    else:
+      f = os.fdopen(os.open(npy_path, os.O_WRONLY | os.O_CREAT | os.O_EXCL), "wb")
+
+    with closing(f) as f:
+      data2 = np.array(data, copy=False, dtype=dtype)
+      if compression:
+        np.savez_compressed(f, data2)
+      else:
+        np.save(f, data2, allow_pickle=self._allow_pickle, fix_imports=False)
+
+  def add_group(self, group_name):
+    # TODO(mgraczyk): This implementation will need to change if we add zip or compression.
+    return ColumnStoreWriter(os.path.join(self._path, group_name))
+
+  def close(self):
+    pass
+
+  def __enter__(self): return self
+  def __exit__(self, type, value, traceback): self.close()
+
+
+def _save_dict_as_column_store(values, writer):
+  for k, v in values.items():
+    if isinstance(v, collections.Mapping):
+      _save_dict_as_column_store(v, writer.add_group(k))
+    else:
+      writer.add_column(k, v)
+
+
+def save_dict_as_column_store(values, output_path):
+  with ColumnStoreWriter(output_path) as writer:
+    _save_dict_as_column_store(values, writer)
+
+
@@ -0,0 +1,20 @@
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+sourcefiles = ['clock.pyx']
+extra_compile_args = ["-std=c++11"]
+
+setup(name='Common',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "common_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+        )
+      ),
+      nthreads=4,
+)
@@ -0,0 +1,3 @@
+# py2,3 compatiblity helpers
+
+basestring = (str, bytes)
@@ -1,23 +0,0 @@
-import numpy as np
-
-# conversions
-class CV:
-  # Speed
-  MPH_TO_KPH = 1.609344
-  KPH_TO_MPH = 1. / MPH_TO_KPH
-  MS_TO_KPH = 3.6
-  KPH_TO_MS = 1. / MS_TO_KPH
-  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
-  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
-  MS_TO_KNOTS = 1.9438
-  KNOTS_TO_MS = 1. / MS_TO_KNOTS
-
-  # Angle
-  DEG_TO_RAD = np.pi / 180.
-  RAD_TO_DEG = 1. / DEG_TO_RAD
-
-  # Mass
-  LB_TO_KG = 0.453592
-
-
-ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
@@ -0,0 +1,55 @@
+import os
+import sys
+import fcntl
+import hashlib
+import platform
+from cffi import FFI
+
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
+
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print("cache miss {0}".format(cache))
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = cflags
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib
@@ -0,0 +1,109 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return "/{}/runner/tmp".format(parts[1])
+  return "/tmp"
+
+class AutoMoveTempdir():
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir():
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+
+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)
@@ -1,34 +1,10 @@
-class FirstOrderFilter:
-  def __init__(self, x0, rc, dt, initialized=True):
+class FirstOrderFilter():
+  # first order filter
+  def __init__(self, x0, ts, dt):
+    self.k = (dt / ts) / (1. + dt / ts)
    self.x = x0
-    self.dt = dt
-    self.update_alpha(rc)
-    self.initialized = initialized
-
-  def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)

  def update(self, x):
-    if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
-    else:
-      self.initialized = True
-      self.x = x
-    return self.x
+    self.x = (1. - self.k) * self.x + self.k * x


-class BounceFilter(FirstOrderFilter):
-  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
-    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
-    self.bounce = bounce
-    super().__init__(x0, rc, dt, initialized)
-
-  def update(self, x):
-    super().update(x)
-    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
-    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
-    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
-      self.velocity.x = 0.0
-    self.x += self.velocity.x
-    return self.x
@@ -0,0 +1 @@
+
@@ -0,0 +1,24 @@
+import numpy as np
+import os
+import csv
+path = os.path.dirname(os.path.abspath(__file__))
+# locally cache cities from
+# https://github.com/thampiman/reverse-geocoder
+csv_file_name = path + '/rg_cities1000.csv'
+
+# right hand drive is when the steering wheel is on the right of the car
+# left hand traffic is when cars driver on the left side of the road
+LHT_COUNTRIES = ['AU', 'IN', 'IE', 'JP', 'MU', 'MY', 'NZ', 'UK', 'ZA']
+
+
+def get_city(lat, lon):
+  cities = np.array(list(csv.reader(open(csv_file_name))))[1:]
+  positions = cities[:,:2].astype(np.float32)
+  idx = np.argmin(np.linalg.norm((positions - np.array([lat, lon])), axis=1))
+  return cities[idx]
+
+
+def is_lht(lat, lon):
+  city = get_city(lat, lon)
+  country = city[-1]
+  return country in LHT_COUNTRIES
@@ -1,42 +0,0 @@
-from functools import cache
-import subprocess
-from openpilot.common.utils import run_cmd, run_cmd_default
-
-
-@cache
-def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
-
-
-@cache
-def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
-  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
-
-
-@cache
-def get_short_branch(cwd: str | None = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
-
-
-@cache
-def get_branch(cwd: str | None = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
-
-
-@cache
-def get_origin(cwd: str | None = None) -> str:
-  try:
-    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
-    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
-    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
-  except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
-
-
-@cache
-def get_normalized_origin(cwd: str | None = None) -> str:
-  return get_origin(cwd) \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)
@@ -1,89 +0,0 @@
-import os
-import fcntl
-import ctypes
-from functools import cache
-
-def gpio_init(pin: int, output: bool) -> None:
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
-      f.write(b"out" if output else b"in")
-  except Exception as e:
-    print(f"Failed to set gpio {pin} direction: {e}")
-
-def gpio_set(pin: int, high: bool) -> None:
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
-      f.write(b"1" if high else b"0")
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
-
-def gpio_read(pin: int) -> bool | None:
-  val = None
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
-      val = bool(int(f.read().strip()))
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
-
-  return val
-
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
-@cache
-def get_irq_action(irq: int) -> list[str]:
-  try:
-    with open(f"/sys/kernel/irq/{irq}/actions") as f:
-      actions = f.read().strip().split(',')
-      return actions
-  except FileNotFoundError:
-    return []
-
-def get_irqs_for_action(action: str) -> list[str]:
-  ret = []
-  with open("/proc/interrupts") as f:
-    for l in f.readlines():
-      irq = l.split(':')[0].strip()
-      if irq.isdigit() and action in get_irq_action(irq):
-        ret.append(irq)
-  return ret
-
-# *** gpiochip ***
-
-class gpioevent_data(ctypes.Structure):
-  _fields_ = [
-    ("timestamp", ctypes.c_uint64),
-    ("id", ctypes.c_uint32),
-  ]
-
-class gpioevent_request(ctypes.Structure):
-  _fields_ = [
-    ("lineoffset", ctypes.c_uint32),
-    ("handleflags", ctypes.c_uint32),
-    ("eventflags", ctypes.c_uint32),
-    ("label", ctypes.c_char * 32),
-    ("fd", ctypes.c_int)
-  ]
-
-def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
-  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
-  GPIOHANDLE_REQUEST_INPUT = 0x1
-  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
-
-  rq = gpioevent_request()
-  rq.lineoffset = pin
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
-  rq.label = label.encode('utf-8')[:31] + b'\0'
-
-  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
-  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
-  os.close(fd)
-  return int(rq.fd)
@@ -1,8 +0,0 @@
-from openpilot.common.params import Params
-
-
-def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable"):
-    return "gpsLocationExternal"
-  else:
-    return "gpsLocation"
@@ -0,0 +1 @@
+simple_kalman_impl.c
@@ -0,0 +1,6 @@
+Import('env')
+
+env.Command(['simple_kalman_impl.so'],
+  ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
+  "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
+
@@ -0,0 +1,3 @@
+# pylint: skip-file
+from common.kalman.simple_kalman_impl import KF1D as KF1D
+assert KF1D
@@ -0,0 +1,16 @@
+cdef class KF1D:
+  cdef public:
+    double x0_0
+    double x1_0
+    double K0_0
+    double K1_0
+    double A0_0
+    double A0_1
+    double A1_0
+    double A1_1
+    double C0_0
+    double C0_1
+    double A_K_0
+    double A_K_1
+    double A_K_2
+    double A_K_3
@@ -0,0 +1,36 @@
+# cython: language_level=3
+
+cdef class KF1D:
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+  def update(self, meas):
+    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  @x.setter
+  def x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Willem Melching	59bd58c940	Remove unused path offset learner	2020-02-06 13:48:56 -08:00
Willem Melching	105b95ffd7	Cancel lane change on blinker off	2020-02-06 13:48:20 -08:00
Willem Melching	fdabd57e7e	Add extra engine FW for Corolla LE	2020-02-06 11:22:38 -08:00
Willem Melching	719e0572e1	Fix fw_versions.py --scan	2020-02-06 10:58:18 -08:00
Adeeb	0ad5715255	use services.h in loggerd (#1056 ) * loggerd: use services.h * don't need yaml-cpp anymore * forgot that	2020-02-06 10:56:01 -08:00
Adeeb	30dffb486a	test car models: fix random hanging (#1055 ) * debug print * unlogger doesn't need fcamera.hevc * only need the rlog * tiemout for log downloading * try again after timeout	2020-02-06 10:53:59 -08:00
Harald Schafer	0728e57578	bump fix	2020-02-05 13:55:21 -08:00
Harald Schafer	c2d5deeccc	bump laika	2020-02-05 13:41:21 -08:00
robbederks	d0c1f9a864	Added hw status to ublox test scripts and ubloxGnss packet (#1054 ) * Added hw status to ublox test scripts and ubloxGnss packet * Added extra config to boardd * Implemented new ublox message handler in ubloxd * Fixed debug text * Added some explanation and cereal bump	2020-02-05 11:12:03 -08:00
Harald Schafer	920572442b	remove lambda	2020-02-04 19:55:17 -08:00
George Hotz	c50c718293	Cleanup simulator and add usage instructions (#1050 ) * cleanup simulator files * minor updates * update readme * keras runner builds * hmm, still doesn't work * keras runner works * should work with python3 keras mod * touchups	2020-02-04 19:46:57 -08:00
Harald Schafer	6b1506740e	comments	2020-02-04 16:48:45 -08:00
Harald Schafer	f50e016c12	better comments	2020-02-04 14:07:35 -08:00
Harald Schafer	bc725b98c9	reverse geocoder	2020-02-04 13:44:39 -08:00
George Hotz	9c5e035838	add zmq to rpath on x64	2020-02-03 18:14:45 -08:00
Harald Schafer	6d5cde3412	add tf model	2020-02-03 18:10:26 -08:00
Willem Melching	07264699b7	bump opendbc: add Lexus NX300H	2020-02-03 16:42:54 -08:00
Willem Melching	37a73d5c94	specify commaai in submodules url (#1049 )	2020-02-03 16:33:49 -08:00
Andy Haden	79c149f42d	Update APKs	2020-02-03 16:14:03 -08:00
Andy Haden	47f4396d7d	Replace 'EON' in offroad alerts	2020-02-03 16:09:08 -08:00
Andy Haden	e8959e6b1a	get_network_type: Sort, correct cell network lookup and fix for pc	2020-02-03 15:52:06 -08:00
Willem Melching	c770f54103	Fix dirty files reporting	2020-02-03 15:12:59 -08:00
Willem Melching	a98000849e	Removed old signed firmware during release build	2020-02-03 15:01:36 -08:00
Willem Melching	e32e754a74	Cleanup files_common for phone release	2020-02-03 14:41:43 -08:00
Willem Melching	118198605f	Use full name for docker caching	2020-02-03 14:12:35 -08:00
Willem Melching	0fb9971728	Only add the file list to the release	2020-02-03 14:11:23 -08:00
Willem Melching	2fe75cb7d0	Noqa on release build script	2020-02-03 13:37:57 -08:00
George Hotz	6797910ab0	fix releases.md typo	2020-02-03 13:35:31 -08:00
Willem Melching	5ea95c3d87	Use dockerhub	2020-02-03 13:33:21 -08:00
Harald Schafer	fe250d6a9e	make it converge within 1min	2020-02-03 13:24:33 -08:00
Willem Melching	58f4f5aac4	use base docker container when building	2020-02-03 13:10:38 -08:00
Willem Melching	0e1fc45bc3	Update release files	2020-02-03 12:52:20 -08:00
Willem Melching	64feca5692	Fix bias state number in paramsd too	2020-02-03 12:47:04 -08:00
Harald Schafer	1db7b43870	fix	2020-02-03 12:45:12 -08:00
Andy Haden	9b1f2d5c64	manager: verify daemon process cmdline	2020-02-03 12:27:13 -08:00
Willem Melching	a53577ed35	Remove unused states from locationd yawrate kalman filer	2020-02-03 12:23:41 -08:00
Willem Melching	77cb0b1464	Add pipfile to release files so CI can run	2020-02-03 12:16:38 -08:00
Willem Melching	f609507afd	Update release notes	2020-02-03 12:16:06 -08:00
Willem Melching	98f5d30455	Handle get_network_type exception	2020-02-03 11:29:05 -08:00
HaraldSchafer	f610e596c4	Multipath supercombo (#1036 ) * exclude stuff outside of validity window * 94dd2da7-23ae-4628-9d12-37f58b379110/10 * fbe443fd-1d65-4b4d-8e3a-3817b58bacd0/50 * sanity clip	2020-02-03 11:25:22 -08:00
Willem Melching	7c94b36171	Add some more firmware fingerprints	2020-02-03 11:24:25 -08:00
illumiN8i	39c9c85562	2020 Lexus RX 350 (#1046 ) * Lexus RX 2020 * Update test_car_models.py	2020-02-03 10:12:13 -08:00
illumiN8i	831cb68a64	Added Central Europe Prime (#1047 ) Co-authored-by: ErichMoraga <33645296+ErichMoraga@users.noreply.github.com>	2020-02-03 09:18:04 -08:00
Drew Hintz	5aff2b6885	support for Chrysler Pacifica 2020 Hybrid (#1021 ) * support for Chrysler Pacifica 2020 Hybrid Thanks to Benson in Discord. Example segment: 8190c7275a24557b\|2020-01-29--08-33-58--7 * Add relevant route to selfdrive/test/test_car_models.py * fix segment test name	2020-02-03 09:17:45 -08:00
George Hotz	811b3b7a9a	Fix ui on mac (#1044 ) * remove line_shader dead code * fix glfwCreateWindow * don't assert on ipc socket failure * window now appears on mac	2020-02-02 22:19:26 -08:00
George Hotz	c42e2ecc50	manager runs on Mac, and other openpilot for PC fixes (#1037 ) * use the openpilot/persist directory on PC * manager runs on mac * sim runs w/o carla * fix params location in test * that rmtree can fail and it's okay * refactor params clear functionality * set PARAMS_PATH	2020-02-02 12:15:02 -08:00
cfranhonda	0470b25071	FP 2019 Civic Hatchback EX (#1040 ) * add 2019 Civic Hatchback EX @dvburke4 For support with Black Panda comma power. Fp taken from [1] * missing ] oops	2020-02-02 11:23:27 -08:00
George Hotz	f72f78f2b9	Support scons build on Mac (#1034 ) * fix clock and add Darwin sconstruct * it builds, this changes should be simplifications too * fix boardd build * that's the real type of EGLClientBuffer * remove extra lines * ui needs opencl on phone	2020-02-01 23:36:50 -08:00
Willem Melching	df6fa7acbd	move fw query debug script	2020-02-01 18:53:43 -08:00
Adeeb	d4c3c7f6f8	test_car_models: fail if a model has no routes (#1029 )	2020-02-01 18:41:25 -08:00
illumiN8i	a7efc8a897	2020 Toyota Prius Prime LE (#1032 )	2020-02-01 18:41:00 -08:00
Willem Melching	822b32656b	Add fingerprint test to ci	2020-02-01 18:40:04 -08:00
Willem Melching	bfa2d030d2	Add batch of firmware versions	2020-02-01 13:06:05 -08:00
robbederks	3f92bc2061	Bumped panda (#1027 )	2020-02-01 12:16:50 -08:00
Andrew Valish	770903520d	Add network_type to thermald (#1030 ) * add network_type to thermal log * move get_network_type to android library	2020-02-01 12:11:10 -08:00
Arne Schwarck	75fdebb1ee	Add German RAV4H_TSS2 Lounge FP (#1031 ) 2f210c724fd9f73b\|2020-01-31--14-12-53--0	2020-02-01 10:45:41 -08:00
illumiN8i	c9d49b8e4a	Sort cars (#1026 )	2020-01-31 08:30:32 -08:00
ZwX1616	6322a275d6	dmonitoringd (#1016 )	2020-01-30 19:12:44 -08:00
Willem Melching	b7aeb5d64d	Cache FW query (#1025 ) * split fw query and matching * Read cached firmware versions * add tests * this works	2020-01-30 17:57:20 -08:00
Comma Device	58262bac9d	use proper timeout on frontFrame to turn off IR leds	2020-01-30 15:52:27 -08:00
Willem Melching	a75891f099	remove old README	2020-01-30 14:55:38 -08:00
Willem Melching	a053244a5a	log fingerprint source	2020-01-30 14:39:26 -08:00
Willem Melching	356f353489	FW fingerprint for Honda & Toyota (#961 ) * add script to process logs * Skip rav4 ESP * Improve gathering script * Update firmware versions for honda and toyota * more firmware versions * If FW query returns 1 candidate, use it * Add FW versions * Fix COROLLA_TSS2 two enigine addresses * uncomment rav4h tss2 * add progress bar to test script * Batch with more ecu versions	2020-01-30 14:32:26 -08:00
Willem Melching	c9501cc164	Also show top 10 procs by RAM usage	2020-01-30 14:17:09 -08:00
Willem Melching	4dac1128f1	Only ignition_last is global	2020-01-30 13:53:19 -08:00
Willem Melching	3a65206c8d	Disable IR leds when no ignition detected	2020-01-30 13:42:40 -08:00
Willem Melching	4d5957432e	Add dockerfile to release files	2020-01-30 13:36:15 -08:00
illumiN8i	3ebb0bc46f	Lexus RX 2016-2017 (#1001 ) fix dbc name Add Lexus RX to test_car_models.py correct route in Lexus RX test Update test_car_models.py	2020-01-30 13:32:30 -08:00
Willem Melching	a2fe62ce77	Fix source brnach in master-ci push	2020-01-30 13:31:14 -08:00
Willem Melching	a97ebc28b5	Fix ci routes sync script target path	2020-01-30 13:21:14 -08:00
Willem Melching	ada141e5e3	Fix target branch on master release build	2020-01-30 13:21:04 -08:00
Willem Melching	0319861700	Jenkins pipeline to create master-ci (#1019 ) * Added Jenkinsfile * Added Jenkinsfile * Added Jenkinsfile * change order * sudo * whoami? * Added Jenkinsfile * install git * Untested build scripts * Add lockable resource * Fix syntax * Only one stage * fix target dir * Use deploy key * noqa on test_openpilot * Fix version.h path * Cleanup release files * Add linter scripts to release * Update jenkinsfile * Fix path * this should work * Use python3 docker container * Run in correct directory * Setup /data/pythonpath Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>	2020-01-30 13:06:45 -08:00
Drew Hintz	f81a43381f	add submodule commands for master (#1024 )	2020-01-30 10:45:36 -08:00
Adeeb	44e97ead7b	process replay: fix output after timeout added (#1020 ) * process replay: fix output after timeout added * better error	2020-01-29 09:44:14 -08:00
Comma Device	8507e683ae	remove empty line in launch script	2020-01-28 17:12:51 -08:00
Comma Device	05cbd3d58c	test commit from phone	2020-01-28 17:10:38 -08:00
Willem Melching	1de0b9c233	Fix version.py in case of no branch	2020-01-28 16:18:26 -08:00
Willem Melching	b552a627e1	cleanup version.py	2020-01-28 15:55:24 -08:00
illumiN8i	277b187a29	Longer fingerprint for 2019 Camry XSE (#1002 ) Adds additonal values to 2019 Camry XSE fingerprint to support discord user phantomarrowwolf's car	2020-01-28 10:55:18 -08:00
Andy Haden	6762447ae7	logging: imports for stack info	2020-01-28 08:35:25 -08:00
Andy Haden	41e4ad5d1d	logging: Vendor findCaller for correct stack frame info in logs	2020-01-27 21:10:47 -08:00
Andy Haden	e400aa0205	Remove unused logging_es	2020-01-27 19:59:52 -08:00
Willem Melching	393c4987c8	Fix junk data in initParams	2020-01-27 17:08:57 -08:00
Willem Melching	47492e77eb	Subaru continuous blinker signals for assisted lane change (#1000 )	2020-01-27 16:39:41 -08:00
Willem Melching	fe9ccb27b1	Remember lane change direction when blinker turns off	2020-01-27 16:19:22 -08:00
Willem Melching	25f799bb8e	Fix linter	2020-01-27 13:50:59 -08:00
Willem Melching	413a432b13	Speed up longitudinal tests and add retry	2020-01-27 12:35:43 -08:00
Willem Melching	2571453a54	Add script to nicely print logMessages	2020-01-27 11:47:41 -08:00
illumiN8i	0c06f15ea9	Fingerprint 2018 Highlander Limited Platinum (#1008 ) from discord user Ryan R	2020-01-27 11:40:59 -08:00
Nelson Chen	d658767236	Add Corolla Hatchback 2020 to README (#1006 ) The Comma Two worked "out of the box" (after OP install, but you all know what I mean) for my Corolla Hatchback 2020 SE w/ BSM.	2020-01-25 18:46:35 -08:00
Adeeb	361be2630f	process replay: add timeout to prevent hanging when tested process crashes (#1007 )	2020-01-25 18:45:51 -08:00
illumiN8i	9a05283566	Restore Lexus ES 2019 to README.md (#1009 ) non-hybrid	2020-01-25 18:45:23 -08:00
Harald Schafer	a06bb77f6b	use alpha 2 codes	2020-01-24 13:24:13 -08:00
Arne Schwarck	3c6ba22931	Add Country South Africa to list of RHD countries (#999 )	2020-01-24 13:20:11 -08:00
robbederks	339e6986cf	Bump panda (#997 )	2020-01-23 18:51:11 -08:00
Willem Melching	0c1d70ac92	Changing alert text changed the test ref	2020-01-23 17:13:09 -08:00
illumiN8i	21af1bad2b	RAV4 Hybrid TSS2 Support (#962 ) * merge wocsor RAV4_HYBRID_TSS2 branch From wocsor's PR #740 cleanup fingerprint 2020 rav4 hybrid confirmed working * 2019 RAV4 Hybrid Limited Adds additional messages for Limited trim. XSE and XLE still contained within this longer Limited fingerprint. * Support Swiss 2019 RAV4 Hybrid XLE Adds 913:8 value from discord user RDuke * Separated RAV4 ICE and Hybrid * Add route to test_car_models.py * Revert "Toyota Corolla Hatchback Hybrid 2019 Excite (Israel)" This reverts commit `f1d6f68625`.	2020-01-23 16:48:01 -08:00
Willem Melching	b9b90267c5	Limit comma two fan speed to 30% when car is not running	2020-01-23 16:41:29 -08:00
Willem Melching	ba4bf07db2	EON -> Device	2020-01-23 16:38:10 -08:00
Willem Melching	09a1691caf	add default EON private key	2020-01-23 14:42:06 -08:00
Willem Melching	09283f4d6a	Fix CI sync script	2020-01-23 13:06:05 -08:00
Willem Melching	e2c784740a	CI: remove header hacks when checking out submodules (#995 )	2020-01-23 12:40:40 -08:00
Harald Schafer	9ff1a54c8d	bump laika	2020-01-23 11:47:45 -08:00
Willem Melching	61c104b392	update test reference after calibrationd changes	2020-01-23 11:40:34 -08:00
Willem Melching	fb8efbed2d	always upload artifacts	2020-01-23 11:35:07 -08:00
ga	7f6c9ebaf7	[Memory leak]uniq_ptr for tmsg (#985 ) * uniq_ptr for tmsg * Added header	2020-01-23 11:25:54 -08:00
mosh-een	53933ebf5b	Update gps_helpers.py (#994 )	2020-01-23 11:24:42 -08:00
Harald Schafer	48b4a57980	needs to be array	2020-01-23 11:08:05 -08:00
Willem Melching	50e859e6b1	Add timeout to github actions and remove old azure-pipelines file	2020-01-23 11:02:37 -08:00
Harald Schafer	ba6fd511b6	sanity clip every vp	2020-01-22 13:09:03 -08:00
Harald Schafer	c32ebcb2c6	simplify and better	2020-01-21 16:37:22 -08:00
Harald Schafer	bbb37309fc	need lock too	2020-01-21 14:42:07 -08:00
Harald Schafer	df6b16c7f6	tf 2.1 has issues	2020-01-21 14:28:49 -08:00
Willem Melching	ec6e83ca2d	Fix locationd_yawrate A matrix	2020-01-21 13:52:45 -08:00
ZwX1616	cf70368f67	replace numpy funs and shorten green prompt (#989 )	2020-01-21 13:40:26 -08:00
Adeeb	28af44d199	GitHub Actions for CI (#986 ) * basic github actions config * submodules * pwd * docker save * unit tests * add rest of tests * fix unit tests * artifacts * container name * does this work? * no --rm when we want artifacts * clean up * fix artifact paths * name * rerun travis * remove travis config	2020-01-21 12:26:10 -08:00
Arne Schwarck	855abbd99e	Subsock no longer exsists (#987 ) * Subsock no longer exsists use the new SubSocket as SubSock has been removed * fix poller syntax update to the new syntax and remove unused messaging library	2020-01-21 11:25:12 -08:00
Adeeb	f13c5d74aa	disable LDW when calibration is incomplete (#984 )	2020-01-20 21:43:38 -08:00
Willem Melching	6f703eaf4e	Installer: disable SSH and safer continue.sh write	2020-01-20 15:16:24 -08:00
illumiN8i	689d49f3f8	add 2017 Lexus RX 450h (#981 ) fingerprint from discord user elihaddad	2020-01-20 13:38:40 -08:00
Adeeb	87f9e14e9c	speed up car model test (#977 )	2020-01-20 12:56:14 -08:00
Adeeb	7129dc8c6a	add missing unit tests to travis config (#979 )	2020-01-20 12:46:38 -08:00
Willem Melching	20745fe1d7	add bug report template	2020-01-20 12:15:55 -08:00
Willem Melching	f6835e9490	Add cloudlog for is_on_wifi fail	2020-01-20 11:25:16 -08:00
Harald Schafer	deef19ff19	bump adding camodom to qlog	2020-01-20 10:59:17 -08:00
Willem Melching	6adbe24d4c	catch CalledProcessError in uploader wifi check	2020-01-20 10:57:08 -08:00
andyh2	79122ae662	apk lib: Grant offroad access to TelephonyManager	2020-01-19 18:05:31 -05:00
andyh2	8d7bb87e7e	offroad apk @ openpilot-apks#530fcb19d	2020-01-19 16:39:57 -05:00
illumiN8i	5560ef0521	Add 2019XSECAMRY fingerprint (#971 ) From discord user 2019XSECAMRY add comment	2020-01-19 10:43:44 -08:00
Willem Melching	53d9975947	installer: add reset to make sure latest is checked out if branch doesnt change	2020-01-19 10:01:11 -08:00
Willem Melching	d9e054477b	Panda signature needs to be bytes	2020-01-19 09:40:37 -08:00
cfranhonda	a93375882a	add 2017 Civic Hatchback LX fp (#966 )	2020-01-19 00:24:50 -08:00
Adeeb	dafdb79db2	Clean up ECU redundancy in selfdrive/car/* (#963 ) * clean up ecu redundancy in selfdrive/car * clean up gear parsing	2020-01-18 23:35:10 -08:00
Comma Device	0fa10e4dd7	wait for NTP time sync before starting install	2020-01-19 05:25:15 +00:00
Bar Harel	f1d6f68625	Toyota Corolla Hatchback Hybrid 2019 Excite (Israel)	2020-01-18 15:28:12 -08:00
Willem Melching	757c29e1ae	bump panda	2020-01-18 13:28:12 -08:00
Comma Device	1989df2fac	change install location in internal launch script	2020-01-18 20:54:46 +00:00
Willem Melching	65a40149d8	startup alert, handle case where param returns none	2020-01-17 21:30:14 -08:00
George Hotz	adb5fe1fa9	Merge pull request #964 from commaai/branch-alert Add orange alert if you are not running a devel or release branch	2020-01-17 17:52:14 -08:00
George Hotz	c7bc8ee00f	python 3 issue	2020-01-17 17:50:43 -08:00
George Hotz	dcd0807d7e	whitelist, don't blacklist	2020-01-17 17:46:17 -08:00
George Hotz	013166a34e	add alert	2020-01-17 17:46:17 -08:00
George Hotz	6ceffe68d0	base SNPE path off home dir, still not really generic	2020-01-17 17:45:38 -08:00
George Hotz	c26d893a77	allow non android to be identified differently	2020-01-17 17:38:31 -08:00
George Hotz	a3dde4e7fe	ui was gitignored	2020-01-17 17:34:23 -08:00
Harald Schafer	e4472d0d46	deprecated	2020-01-17 16:24:40 -08:00
Willem Melching	f3c1992b10	Merge pull request #960 from ZwX1616/patch-1 not to change awareness to npfloat64	2020-01-17 14:20:14 -08:00
ZwX1616	12f72fb8e2	Update test_monitoring.py	2020-01-17 14:15:08 -08:00
ZwX1616	2f19eed023	Update test_monitoring.py	2020-01-17 14:02:59 -08:00
Willem Melching	dfded79673	Tools is now in openpilot, and use prebuilt capnp	2020-01-17 13:13:02 -08:00
ZwX1616	b013a00095	not to change awareness to np	2020-01-17 13:12:18 -08:00
Willem Melching	7f813d23ce	cleanup and make linting part of ci work	2020-01-17 13:03:44 -08:00
George Hotz	59b3d06417	tools is local now	2020-01-17 12:51:19 -08:00
George Hotz	b0260dadba	selfdrive/controls	2020-01-17 12:48:30 -08:00
George Hotz	fcf8efb826	selfdrive/locationd	2020-01-17 11:39:56 -08:00
Willem Melching	5f2a5e5bad	use relative urls in submodules	2020-01-17 11:27:29 -08:00
George Hotz	f467642a1c	selfdrive/debug	2020-01-17 11:23:21 -08:00
George Hotz	da079d47d7	logcatd, loggerd, mapd, modeld, proclogd	2020-01-17 11:20:17 -08:00
George Hotz	5c9afcc785	selfdrive/sensord	2020-01-17 11:17:58 -08:00
George Hotz	c0bfbc12c7	selfdrive/test	2020-01-17 11:16:14 -08:00
George Hotz	aeb2fff068	selfdrive/ui	2020-01-17 11:05:23 -08:00
George Hotz	2f9379a139	selfdrive/*.py	2020-01-17 11:03:42 -08:00
George Hotz	368a956b96	selfdrive/common	2020-01-17 11:01:02 -08:00
George Hotz	71ead9adea	selfdrive/car	2020-01-17 10:58:43 -08:00
George Hotz	978e0eb986	selfdrive/clocksd	2020-01-17 10:57:08 -08:00
George Hotz	341c0da987	selfdrive/athenad	2020-01-17 10:54:24 -08:00
George Hotz	84560ccd55	selfdrive/camerad	2020-01-17 10:52:42 -08:00
George Hotz	ef93a715e1	selfdrive/boardd	2020-01-17 10:51:01 -08:00
George Hotz	41d99c3b70	selfdrive/assets	2020-01-17 10:47:43 -08:00
George Hotz	d4d57ed7fe	bring over scripts	2020-01-17 10:41:41 -08:00
George Hotz	d2a564b9c7	bring over installer	2020-01-17 10:39:50 -08:00
George Hotz	da6863f427	bring over phonelibs minus frida-gum and qsml	2020-01-17 10:37:11 -08:00
George Hotz	6abffe0ede	external folder	2020-01-17 10:33:21 -08:00
George Hotz	23c2d02682	latest models	2020-01-17 10:30:34 -08:00
George Hotz	e8d888c45b	common folder	2020-01-17 10:28:44 -08:00
George Hotz	c4e5ce685e	latest built apks	2020-01-17 10:26:31 -08:00
George Hotz	c8a04d25c9	root directory hidden files	2020-01-17 10:25:50 -08:00
George Hotz	012535a84e	root directory non hidden files	2020-01-17 10:22:00 -08:00
George Hotz	3fe9bbe665	merge in pyextra	2020-01-17 10:08:05 -08:00
George Hotz	29ac3da7b8	merge in tools	2020-01-17 10:07:22 -08:00
George Hotz	80d6953862	submodules	2020-01-17 10:05:09 -08:00
George Hotz	6c33a5c1f3	root commit	2020-01-17 10:02:52 -08:00