Compile FrogPilot

Add ZSS support for Toyota Priuses with a Zorro Steering Sensor.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>

.clang-tidy

@@ -1,19 +0,0 @@
----
-Checks: '
-bugprone-*,
--bugprone-integer-division,
--bugprone-narrowing-conversions,
-performance-*,
-clang-analyzer-*,
-misc-*,
--misc-unused-parameters,
-modernize-*,
--modernize-avoid-c-arrays,
--modernize-deprecated-headers,
--modernize-use-auto,
--modernize-use-using,
--modernize-use-nullptr,
--modernize-use-trailing-return-type,
-'
-CheckOptions:
-...

.devcontainer/.gitignore

@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/

.devcontainer/Dockerfile

@@ -1,17 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma

.devcontainer/container_post_start.sh

@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi

.devcontainer/devcontainer.json

@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}

.devcontainer/host_setup

@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi

.devcontainer/host_setup.cmd

@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env

.dockerignore

@@ -1,39 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-*.so
-*.a
-
-venv/
-.venv/
-
-notebooks
-phone
-massivemap
-neos
-installer
-chffr/app2
-chffr/backend/env
-selfdrive/nav
-selfdrive/baseui
-selfdrive/test/simulator2
-**/cache_data
-xx/plus
-xx/community
-xx/projects
-!xx/projects/eon_testing_master
-!xx/projects/map3d
-xx/ops
-xx/junk

.editorconfig

@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-trim_trailing_whitespace = true
-
-[{*.py, *.pyx, *.pxd}]
-charset = utf-8
-indent_style = space
-indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -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
-

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -1,53 +0,0 @@
-name: Car bug report
-description: For issues with a particular car make or model
-labels: ["car", "bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: car
-    attributes:
-      label: Which car does this affect?
-      placeholder: Toyota Prius 2017
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/ISSUE_TEMPLATE/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord

.github/ISSUE_TEMPLATE/enhancement.md

@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -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
-

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -1,15 +0,0 @@
----
-name: Bug fix
-about: For openpilot bug fixes
-title: ''
-labels: 'bugfix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -1,19 +0,0 @@
----
-name: Car Bug fix
-about: For vehicle/brand specific bug fixes
-title: ''
-labels: 'car bug fix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
-
-**Route**
-
-Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -1,15 +0,0 @@
----
-name: Car port
-about: For new car ports
-title: ''
-labels: 'car port'
-assignees: ''
----
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -1,13 +0,0 @@
----
-name: Fingerprint
-about: For adding fingerprints to existing cars
-title: ''
-labels: 'fingerprint'
-assignees: ''
----
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -1,15 +0,0 @@
----
-name: Refactor
-about: For code refactors
-title: ''
-labels: 'refactor'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the refactor, including the goals it accomplishes. -->
-
-**Verification**
-
-<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -1,31 +0,0 @@
----
-name: Tuning
-about: For openpilot tuning changes
-title: ''
-labels: 'tuning'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
-
-**Verification**
-
-<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
-Use the PlotJuggler tuning layout to compare planned versus actual behavior.
-
-Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
-
-Longitudinal:
-* Maintaining speed at 25, 40, 65mph
-* Driving up and down hills
-* Accelerating from a stop
-* Decelerating to a stop
-* Following large changes in set speed
-* Coming to a stop behind a lead car
-
-Lateral:
-* Straight driving at ~25, ~45 and ~65mph
-* Turns driving at ~25, ~45 and ~65mph
--->

.github/build.py

@@ -1,30 +0,0 @@
-import pathlib
-
-GITHUB_FOLDER = pathlib.Path(__file__).parent
-
-PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
-
-order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
-
-def create_pull_request_template():
-  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
-    f.write("<!-- Please copy and paste the relevant template -->\n\n")
-
-    for t in order:
-      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
-      text = template.read_text()
-
-      # Remove metadata for GitHub
-      start = text.find("---")
-      end = text.find("---", start+1)
-      text = text[end + 4:]
-
-      # Remove comments
-      text = text.replace("<!-- ", "").replace("-->", "")
-
-      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
-      f.write(text)
-      f.write("\n\n")
-      f.write("-->\n\n")
-
-create_pull_request_template()

.github/labeler.yaml

@@ -1,79 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**'
-
-body:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/body/*'
-
-chrysler:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
-
-ford:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/ford/*'
-
-gm:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/gm/*'
-
-honda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/honda/*'
-
-hyundai:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
-
-mazda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
-
-nissan:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
-
-subaru:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
-
-tesla:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
-
-toyota:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
-
-volkswagen:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
-
-fingerprint:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/**'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-research:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -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. 
-
-
--->
-

.github/workflows/auto-cache/action.yaml

@@ -1,49 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'false'
-    required: false
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,53 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, edited, edited]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: comment
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

.github/workflows/compile-openpilot/action.yaml

@@ -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 }}

.github/workflows/compile_frogpilot.yaml

@@ -1,277 +0,0 @@
-name: Compile FrogPilot
-
-on:
-  workflow_dispatch:
-    inputs:
-      runner:
-        description: "Select the runner"
-        required: true
-        default: "c3"
-        type: choice
-        options:
-          - c3
-          - c3x
-      not_vetted:
-        description: "This branch is not vetted"
-        required: false
-        default: "false"
-        type: boolean
-      publish_frogpilot:
-        description: "Push to FrogPilot"
-        required: false
-        default: "false"
-        type: boolean
-      publish_staging:
-        description: "Push to FrogPilot-Staging"
-        required: false
-        default: "false"
-        type: boolean
-      publish_testing:
-        description: "Push to FrogPilot-Testing"
-        required: false
-        default: "false"
-        type: boolean
-      publish_custom_branch:
-        description: "Push to custom branch:"
-        required: false
-        default: ""
-        type: string
-      update_translations:
-        description: "Update missing/outdated translations"
-        required: false
-        default: "false"
-        type: boolean
-      vet_existing_translations:
-        description: "Vet existing translations"
-        required: false
-        default: "false"
-        type: boolean
-
-env:
-  BASEDIR: "${{ github.workspace }}"
-  BUILD_DIR: /data/openpilot
-  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
-
-jobs:
-  get_branch:
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-    outputs:
-      branch: ${{ steps.get_branch.outputs.branch }}
-      python_version: ${{ steps.get_python_version.outputs.python_version }}
-    steps:
-      - name: Determine Current Branch on Runner
-        id: get_branch
-        run: |
-          cd $BUILD_DIR
-
-          BRANCH=$(git rev-parse --abbrev-ref HEAD)
-          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
-
-      - name: Get Python Version from Runner
-        id: get_python_version
-        run: |
-          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
-          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
-
-  translate:
-    if: inputs.update_translations
-    needs: get_branch
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout Required Files
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ needs.get_branch.outputs.branch }}
-          sparse-checkout: |
-            frogpilot/ui/
-            selfdrive/controls/lib/alerts_offroad.json
-            selfdrive/ui/
-            selfdrive/ui/update_translations.py
-            selfdrive/ui/translations/
-            selfdrive/ui/translations/auto_translate.py
-
-      - name: Set Up Python
-        uses: actions/setup-python@v4
-        with:
-          python-version: "${{ needs.get_branch.outputs.python_version }}"
-
-      - name: Install Dependencies
-        run: pip install requests
-
-      - name: Install Qt5 Tools
-        run: sudo apt update && sudo apt install -y qttools5-dev-tools
-
-      - name: Update Translations
-        run: python selfdrive/ui/update_translations.py --vanish
-
-      - name: Update Missing Translations
-        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files
-        timeout-minutes: 300
-
-      - name: Vet Existing Translations
-        if: github.event.inputs.vet_existing_translations == 'true'
-        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
-        timeout-minutes: 300
-
-      - name: Commit and Push Translation Updates
-        run: |
-          if git diff --quiet selfdrive/ui/translations/*.ts; then
-            echo "No translation updates detected."
-            exit 0
-          fi
-
-          git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
-          git checkout ${{ needs.get_branch.outputs.branch }}
-          git add selfdrive/ui/translations/*.ts
-          git commit --amend --no-edit
-          git push --force origin ${{ needs.get_branch.outputs.branch }}
-
-  build_and_push:
-    needs:
-      - get_branch
-      - translate
-    if: always()
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-    permissions:
-      contents: write
-    defaults:
-      run:
-        working-directory: ${{ env.BUILD_DIR }}
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global http.postBuffer 104857600
-
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Update Repository
-        run: |
-          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
-
-          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
-            git fetch origin ${{ needs.get_branch.outputs.branch }}
-            git reset --hard FETCH_HEAD
-          fi
-
-      - name: Take Ownership of Build
-        run: |
-          sudo chown -R $(whoami):$(whoami) .
-
-      - name: Finalize Build
-        run: |
-          rm -f .clang-tidy
-          rm -f .dockerignore
-          rm -f .editorconfig
-          rm -f .gitattributes
-          rm -f .gitmodules
-          rm -f .lfsconfig
-          rm -f .overlay_init
-          rm -f .pre-commit-config.yaml
-          rm -f .sconsign.dblite
-          rm -f codecov.yml
-          rm -f conftest.py
-          rm -f poetry.lock
-          rm -f pyproject.toml
-          rm -f teleoprtc
-          rm -f Dockerfile.openpilot
-          rm -f Dockerfile.openpilot_base
-          rm -f Jenkinsfile
-
-          rm -f panda/board/obj/.placeholder
-          rm -f panda/board/obj/bootstub.panda.elf
-          rm -f panda/board/obj/bootstub.panda_h7.elf
-          rm -f panda/board/obj/panda.bin
-          rm -f panda/board/obj/panda.elf
-          rm -f panda/board/obj/panda_h7.bin
-          rm -f panda/board/obj/panda_h7.elf
-          rm -f panda/board/obj/version
-
-          find . -name '*.a' -delete
-          find . -name '*.o' -delete
-          find . -name '*.onnx' -delete
-          find . -name '*.os' -delete
-          find . -name '*.pyc' -delete
-          find . -name 'moc_*' -delete
-
-          rm -rf .devcontainer/
-          rm -rf .vscode/
-          rm -rf body/
-          rm -rf opendbc/generator/
-          rm -rf release/
-          rm -rf scripts/
-          rm -rf site_scons/
-          rm -rf teleoprtc_repo/
-
-          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
-
-          find .github/workflows -mindepth 1 ! \( \
-            -type f \( \
-              -name 'compile_frogpilot.yaml' -o \
-              -name 'review_pull_request.yaml' -o \
-              -name 'schedule_update.yaml' -o \
-              -name 'update_pr_branch.yaml' -o \
-              -name 'update_release_branch.yaml' -o \
-              -name 'update_tinygrad.yaml' \
-            \) \
-          \) -exec rm -rf {} +
-
-          find panda/board/jungle -type f ! -name '__init__.py' -delete
-          find panda/board/jungle -type d -empty -delete
-
-          find third_party/ -name '*x86*' -exec rm -rf {} +
-          find third_party/ -name '*Darwin*' -exec rm -rf {} +
-
-          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
-
-          find . -name 'SConstruct' -delete
-          find . -name 'SConscript' -delete
-
-          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
-          find . -type d -empty ! -path "./.git*" -delete
-          find . -type d -name '__pycache__' -exec rm -rf {} +
-          find . -type f -regex '.*matlab.*\.md' -delete
-
-          touch prebuilt
-
-          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
-            touch not_vetted
-          fi
-
-      - name: Add the update_date file
-        if: github.event.inputs.publish_staging == 'true'
-        run: |
-          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
-
-      - name: Commit Build
-        run: |
-          git add -f .
-          git commit -m "Compile FrogPilot"
-          git push --force origin HEAD
-
-          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot"
-          fi
-
-          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Staging"
-          fi
-
-          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Testing"
-          fi
-
-          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
-            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
-          fi

.github/workflows/docs.yaml

@@ -1,64 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Build docs
-      run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
-
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-
-        git checkout --orphan tmp
-        git rm -rf .
-
-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-        git add -f .
-
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

.github/workflows/prebuilt.yaml

@@ -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"

.github/workflows/release.yaml

@@ -1,54 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 10 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    env:
-      TARGET_DIR: /tmp/openpilot
-      ImageOS: ubuntu20
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build master-ci'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Build master-ci
-      run: |
-        release/build_devel.sh
-    - name: Run tests
-      run: |
-        export PYTHONPATH=$TARGET_DIR
-        cd $TARGET_DIR
-        scons -j$(nproc)
-        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
-    - name: Push master-ci
-      run: |
-        unset TARGET_DIR
-        BRANCH=master-ci release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -1,63 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-jobs:
-  bump_submodules:
-    name: bump_submodules
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
-        git add .
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: bump submodules
-        title: '[bot] Bump submodules'
-        branch: auto-bump-submodules
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> bump_submodules'
-        labels: bot
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-    - name: poetry lock
-      run: |
-        pip install poetry
-        poetry lock
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot

.github/workflows/review_pull_request.yaml

@@ -1,34 +0,0 @@
-name: Review Pull Request
-
-on:
-  pull_request_target:
-    types: [opened, reopened]
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-jobs:
-  pr_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Exit If PR Opened by FrogAi
-        if: ${{ github.actor == 'FrogAi' }}
-        run: |
-          echo PR opened or reopened by FrogAi. No action needed.
-          exit 0
-
-      - name: Close PR for Invalid Target Branch
-        if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
-        run: |
-          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
-            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
-
-          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
-            -X PATCH \
-            -f state="closed"
-
-      - name: Acknowledge PR for Valid Target Branch
-        if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
-        run: |
-          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
-            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"

.github/workflows/schedule_update.yaml

@@ -1,57 +0,0 @@
-name: Schedule FrogPilot Update
-
-on:
-  workflow_dispatch:
-    inputs:
-      scheduled_date:
-        description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
-        required: true
-
-env:
-  BRANCH: FrogPilot-Staging
-
-jobs:
-  schedule-update:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.BRANCH }}
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ env.BRANCH }}
-          fetch-depth: 3
-
-      - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
-        run: |
-          echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
-          git add .github/update_date
-
-      - name: Get Target Commit (Second Most Recent)
-        id: get_target
-        run: |
-          TARGET_COMMIT=$(git rev-parse HEAD~1)
-
-          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
-          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
-
-          echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
-          echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
-          echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
-
-      - name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
-        run: git commit --fixup="${{ env.TARGET_COMMIT }}"
-
-      - name: Autosquash Fixup into Target Commit
-        run: |
-          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
-
-      - name: Restore Timestamps on Final Two Commits
-        run: |
-          git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
-
-      - name: Push Updated ${{ env.BRANCH }} Branch
-        run: git push origin "${{ env.BRANCH }}" --force-with-lease

.github/workflows/selfdrive_tests.yaml

@@ -1,330 +0,0 @@
-name: selfdrive
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
-      run: release/check-submodules.sh
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 3
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
-      run: |
-        cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
-
-  build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Build openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: 15
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  process_replay:
-    name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: 30
-      run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
-    - name: Run regen
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  test_cars:
-    name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: 20
-      run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 2
-        JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
-                            python selfdrive/ui/tests/test_ui/run.py"
-      - name: Upload Test Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report

.github/workflows/setup-pre-commit/action.yaml

@@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

.github/workflows/setup-with-retry/action.yaml

@@ -1,40 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-runs:
-  using: "composite"
-  steps:
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        is_retried: true

.github/workflows/setup/action.yaml

@@ -1,63 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: true
-    default: ''
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
-    # https://buildjet.com/for-github-actions/docs/guides/docker
-    - shell: bash
-      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
-      run: |
-        echo "Need to set the Docker Hub PAT secret as an input to this action"
-        exit 1
-    - name: Login to Docker Hub
-      if: contains(runner.name, 'buildjet')
-      shell: bash
-      run: |
-        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -1,29 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 14
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tools_tests.yaml

@@ -1,67 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
-        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt

.github/workflows/update_pr_branch.yaml

@@ -1,85 +0,0 @@
-name: Update MAKE-PRS-HERE
-
-on:
-  push:
-    branches:
-      - FrogPilot-Staging
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-  SOURCE_BRANCH: FrogPilot-Staging
-  TARGET_BRANCH: MAKE-PRS-HERE
-
-jobs:
-  update_branch:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.SOURCE_BRANCH }}
-        uses: actions/checkout@v3
-        with:
-          persist-credentials: false
-
-          fetch-depth: 0
-
-          ref: ${{ env.SOURCE_BRANCH }}
-
-      - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
-        id: find_parent
-        run: |
-          COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
-          [ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
-
-          PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
-          [ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
-
-          echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
-          echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
-
-      - name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
-        run: |
-          git fetch origin "${{ env.TARGET_BRANCH }}"
-          git checkout "${{ env.TARGET_BRANCH }}"
-
-      - name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
-        run: |
-          git rm -r --ignore-unmatch .
-          git clean -fdx
-          git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
-
-          COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
-          SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
-
-          [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
-
-          rm -f .github/update_date
-
-          git add --all
-
-      - name: Commit and Push to ${{ env.TARGET_BRANCH }}
-        run: |
-          TZ_VALUE="America/Phoenix"
-          day=$(TZ="$TZ_VALUE" date +"%-d")
-          month=$(TZ="$TZ_VALUE" date +"%B")
-          year=$(TZ="$TZ_VALUE" date +"%Y")
-
-          case $day in
-            11|12|13) s=th ;;
-            *) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
-          esac
-
-          commit_message="${month} ${day}${s}, ${year} Update"
-
-          if git log -1 --pretty=%s | grep -q "$commit_message"; then
-            git commit --amend --no-edit
-          else
-            git commit -m "$commit_message"
-          fi
-
-          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
-          git push origin "${{ env.TARGET_BRANCH }}" --force

.github/workflows/update_release_branch.yaml

@@ -1,131 +0,0 @@
-name: Update FrogPilot Branch
-
-on:
-  schedule:
-    - cron: "0 18 * * 6"
-
-env:
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-  BRANCH_FROGPILOT: FrogPilot
-  BRANCH_PREVIOUS: FrogPilot-Previous
-  BRANCH_STAGING: FrogPilot-Staging
-
-  TZ: America/Phoenix
-
-  UPDATE_FILE: .github/update_date
-
-jobs:
-  check_update:
-    runs-on: ubuntu-latest
-    outputs:
-      update_due: ${{ steps.check_update.outputs.update_due }}
-      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
-    steps:
-      - name: Download the "update_date" File
-        id: download_update
-        run: |
-          curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
-
-      - name: Check If Update Is Due
-        id: check_update
-        run: |
-          if [ -f update_date_missing ]; then
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          SCHEDULED_DATE=$(cat update_date)
-          CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
-
-          if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          echo "update_due=true" >> "$GITHUB_OUTPUT"
-          echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
-
-  update_branch:
-    needs: check_update
-    if: ${{ needs.check_update.outputs.update_due == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "James"
-          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Checkout ${{ env.BRANCH_STAGING }}
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-          ref: ${{ env.BRANCH_STAGING }}
-
-      - name: Authenticate with GITHUB_TOKEN
-        run: |
-          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
-
-      - name: Update README Date and Remove update file
-        run: |
-          DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
-
-          case "$DAY" in
-            1|21|31) SUFFIX="st" ;;
-            2|22)    SUFFIX="nd" ;;
-            3|23)    SUFFIX="rd" ;;
-            *)       SUFFIX="th" ;;
-          esac
-
-          MONTH=$(TZ="${{ env.TZ }}" date +'%B')
-          YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
-
-          DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
-          DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
-
-          sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
-
-          git add README.md
-          git rm -f "${{ env.UPDATE_FILE }}"
-          git commit -m "Updated README date to ${DATE}"
-
-      - name: Squash Commits
-        run: |
-          COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
-
-          git reset --soft HEAD~2
-          git commit -m "$COMMIT_MSG"
-
-      - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
-        run: |
-          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
-          COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
-
-          git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
-
-      - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
-        run: |
-          git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
-
-      - name: Wait Until Noon ${{ env.TZ }}
-        run: |
-          NOW=$(TZ="${{ env.TZ }}" date +%s)
-          TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
-
-          [ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
-
-      - name: Push ${{ env.BRANCH_STAGING }}
-        run: |
-          git push origin "${{ env.BRANCH_STAGING }}" --force
-
-      - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
-        run: |
-          git switch "${{ env.BRANCH_PREVIOUS }}"
-          git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
-          git push origin "${{ env.BRANCH_PREVIOUS }}" --force
-
-      - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
-        run: |
-          git switch "${{ env.BRANCH_FROGPILOT }}"
-          git reset --hard "origin/${{ env.BRANCH_STAGING }}"
-          git push origin "${{ env.BRANCH_FROGPILOT }}" --force

.github/workflows/update_tinygrad.yaml

@@ -1,79 +0,0 @@
-name: Update Tinygrad
-
-on:
-  workflow_dispatch:
-    inputs:
-      runner:
-        description: "Select the runner"
-        required: true
-        default: "c3"
-        type: choice
-        options:
-          - c3
-          - c3x
-
-jobs:
-  update_tinygrad:
-    name: Update Tinygrad
-    runs-on:
-      - self-hosted
-      - ${{ github.event.inputs.runner }}
-
-    steps:
-      - name: Get version
-        id: get_version
-        run: |
-          VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
-          echo "VERSION=$VERSION"
-          echo "version=$VERSION" >> "$GITHUB_OUTPUT"
-
-      - name: Clone GitLab repo
-        env:
-          GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
-        run: |
-          rm -rf /data/tmp/frogpilot_tinygrad
-          mkdir -p /data/tmp/frogpilot_tinygrad
-          cd /data/tmp/frogpilot_tinygrad
-
-          git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
-
-      - name: Create Tinygrad Archive
-        run: |
-          set -euo pipefail
-          cd /data/openpilot
-
-          ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
-          ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
-
-          TMPDIR="$(mktemp -d)"
-          touch "$TMPDIR/SConscript"
-
-          tar -czf "$ARCHIVE_NAME" \
-            --exclude="*.a" \
-            --exclude="*.o" \
-            --exclude="*.onnx" \
-            --exclude="*__pycache__*" \
-            --exclude="*tests*" \
-            --exclude="frogpilot/tinygrad_modeld/SConscript" \
-            frogpilot/tinygrad_modeld tinygrad_repo \
-            -C "$TMPDIR" \
-            --transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
-            SConscript
-
-          mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
-          rm -rf "$TMPDIR"
-
-      - name: Push updated Tinygrad
-        run: |
-          cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
-
-          git config user.name "James"
-          git config user.email "91348155+FrogAi@users.noreply.github.com"
-
-          git add Tinygrad_*.tar.gz
-          git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
-          git push origin Tinygrad
-
-      - name: Cleanup temporary files
-        run: |
-          rm -rf /data/tmp/frogpilot_tinygrad

.gitignore

@@ -10,6 +10,7 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
 model2.png
 a.out
 .hypothesis
@@ -40,9 +41,8 @@ compile_commands.json
 compare_runtime*.html
 
 persist
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
+board/obj/
+selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -53,11 +53,16 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
+one
 notebooks
+xx
+yy
 hyperthneed
+panda_jungle
 provisioning
 
 .coverage*

.gitmodules

@@ -1,21 +0,0 @@
-[submodule "panda"]
-  path = panda
-  url = ../../commaai/panda.git
-[submodule "opendbc"]
-  path = opendbc
-  url = ../../commaai/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = ../../commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = ../../commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = ../../commaai/body.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git

.pre-commit-config.yaml

@@ -1,103 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
--   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
--   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
--   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
--   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
--   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
--   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
-    hooks:
-    -   id: check-github-workflows

.python-version

@@ -1 +0,0 @@
-3.11.4

.vscode/extensions.json

@@ -1,8 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-  ]
-}

.vscode/launch.json

@@ -1,47 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.py",
-        "selfdrive/navd/navd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
-    }
-  ]
-}

.vscode/settings.json

@@ -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/**",
-  ]
-}

Dockerfile.openpilot

@@ -1,30 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED 1
-
-ENV OPENPILOT_PATH /home/batman/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
-
-RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -1,82 +0,0 @@
-FROM ubuntu:20.04
-
-ENV PYTHONUNBUFFERED 1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    lsb-core \
-    libx11-6 \
-  && rm -rf /var/lib/apt/lists/*
-
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
-
-RUN dbus-uuidgen > /etc/machine-id
-
-ARG USER=batman
-ARG USER_UID=1000
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
-COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
-
-RUN cd /tmp && \
-    tools/install_python_dependencies.sh && \
-    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -40,7 +40,6 @@ if [ -f /TICI ]; then
   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"
@@ -183,7 +182,7 @@ node {
         deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd system/manager && ./build.py"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
           ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
@@ -191,54 +190,53 @@ node {
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          ["test manager", "pytest system/manager/test/test_manager.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
         ])
       },
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          ["build", "cd selfdrive/manager && ./build.py"],
           ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
@@ -251,4 +249,4 @@ node {
     currentBuild.result = 'FAILED'
     throw e
   }
-}
+}

README.md

@@ -1,252 +1,242 @@
-<div align="center" style="text-align: center;">
+![openpilot on the comma 3X](https://i.imgur.com/6l2qbf5.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)
+* [What is FrogPilot?](#what-is-frogpilot)
+* [Features](#features)
+* [How to Install](#how-to-install)
+* [Bug reports / Feature Requests](#bug-reports--feature-requests)
+* [Discord](#discord)
+* [Donations](#donations)
+* [Credits](#credits)
+* [Licensing](#licensing)
 
-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
+---
 
-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+What is openpilot?
+------
 
-[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-
-</div>
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
-    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
   </tr>
 </table>
 
 
-Using openpilot in a car
+What is FrogPilot? 🐸
 ------
 
-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
-
-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.
+FrogPilot is a bi-weekly updated and 100% open-sourced fork of openpilot with clean commits dedicated to serve the openpilot community. FrogPilot is shaped by user and developer contributions, emphasizing collaborative, community-driven development to provide a bleeding-edge openpilot experience for everyone!
 
 ------
+FrogPilot was last updated on:
+<img width="10%" align="left" src="./selfdrive/assets/img_spinner_comma.png">
 
-<div align="center" style="text-align: center;">
-
-<h1>FrogPilot 🐸</h1>
-
-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
-[![Last Updated](https://img.shields.io/badge/Last%20Updated-August%209th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
-[![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)
-
-</div>
+**March 1st, 2024**
 
+Features
 ------
 
-**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
+FrogPilot offers a wide range of customizable features that can be easily toggled on or off to suit your preferences. Whether you want a completely stock openpilot experience or want to add some fun and personal touches, FrogPilot has you covered! Some of the features include:
 
-openpilot vs **FrogPilot**
+------
+🎨 **Custom Themes:**
+
+  - Themes included:
+    - 🐸 Frog theme (with a bonus 🐐 sound effect)
+    - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="20" height="18"> Russia / Joseph Stalin theme
+    - 🔌 Tesla theme
+
+  - 📢 Want to add a theme? Request one in the "feature-request" channel in the FrogPilot Discord!
+------
+🚀 **Conditional Experimental Mode:**
+
+  - Auto-activates "Experimental Mode" under several conditions, including:
+    - Approaching slower vehicles
+    - Curve and stop light/stop sign detection
+    - Driving below a set speed
+    - Turn signal activation below 55mph for turn assistance
+    - While using navigation to prepare for upcoming intersections and turns
+------
+🎮 **Custom UI:**
+
+  - Road UI Customizations:
+    - Blind spot path to indicate when and where a vehicle is in your blind spot
+    - Compass that rotates according to the direction you're driving
+    - Increase or decrease the lane line, path, and road edge widths
+    - Path edge colors based on specific driving statuses
+      - 🔵 Blue - Navigation active
+      - 🟦 Light Blue - "Always On Lateral" active
+      - 🟩 Light Green - Default
+      - 🟠 Orange - Experimental Mode active
+      - 🟡 Yellow - Conditional Experimental overridden
+    - Steering wheel icons
+      📢 Request your own steering wheel icon in the "feature-request" channel!
+    - Steering wheel in the onroad UI rotates alongside your physical steering wheel
+    - "Unlimited" road UI that extends out as far as the model can see
+------
+📊 **Developer UI:**
+
+  - Display various driving logics and device state metrics
+  - Lane detection measuring the width of the adjacent lanes
+  - Tap the "CPU"/"GPU" gauge to toggle between CPU and GPU monitoring
+  - Tap the "MEMORY" gauge to toggle between RAM and storage monitoring
+------
+🛠 **Device Behaviors:**
+
+  - Adjustable screen brightness
+  - Device can operate offline indefinitely
+  - Disable uploads while onroad to help reduce data usage
+  - Easy Panda firmware flashing via a "Flash Panda" button in the "Device" menu
+  - Faster boot with prebuilt functionality
+  - Set when the device will auto-shutdown to prevent battery drain
+------
+🚘 **Driving Behaviors:**
+
+  - Adjust the max set speed in increments of 5 or more on short presses
+  - Lateral Adjustments:
+    - Activate lateral control by simply pressing the "Cruise Control" button
+    - Lateral control won't disengage on gas or brake
+    - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad
+    - [Pfeiferj's curvature adjustment](https://github.com/commaai/openpilot/pull/28118) for smoother curve handling
+    - Precise turns by using turn desires when below the minimum lane change speed
+    - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for improved steering controls
+  - Longitudinal Adjustments:
+    - Aggressive acceleration following a lead vehicle from a stop
+    - Enhanced stopping distances and braking behaviors
+    - "Map Turn Speed Controller" to slow down for curves based on stored map data
+    - "Speed Limit Controller" to adjust your speed to the posted speed limit
+      - With additional toggles to set offsets for the ranges of "0-34 mph", "35-54 mph", "55-64 mph", and "65-99 mph"
+    - Sport and Eco acceleration modes
+    - "Vision Turn Speed Controller" for smoother handling of curves
+      - With additional toggles to fine tune it with your desired speed and curve detection sensitivity
+  - Toggle Experimental Mode via the "Lane Departure Alert" button or by double tapping the screen
+------
+🚗 **Driving Personality Profiles:**
+
+  - Ability to completely customize the following distance and jerk values for each profile
+  - Adjustable via the "Distance" button on the steering wheel
+    - Unsupported vehicle makes can use an Onroad UI button to switch between profiles with ease
+------
+⚡ **Model Switching:**
+
+  - Select between various openpilot models to use your favorite model
+------
+🗺️ **Navigation:**
+
+  - 3D buildings in the map panel
+  - iOS shortcuts to use with setting navigation directions
+  - Navigate on openpilot without a comma prime subscription
+  - Offline maps
+  - Open Street Maps integration for speed limit control and road name view
+------
+🚙 **Vehicle Specific Additions:**
+
+  - GM Volt support
+  - Honda Clarity support
+  - Lock doors automatically when in the drive gear for Toyota/Lexus
+  - openpilot longitudinal control for GM vehicles without ACC
+  - Pedal interceptor support for GM vehicles
+  - SNG hack for Toyota's without stop and go functionality
+  - Toyota/TSS2 tuning for smooth driving
+  - ZSS support for the Toyota Prius
+------
+🚦 **Other Quality of Life Features:**
+
+  - Camera view selection to view your preferred camera (cosmetic only)
+  - Driving statistics to show how many hours and miles you've driven on the home screen
+  - Fleet Manager to easily access your driving logs and screen recordings
+  - Green light alert
+  - Hide the speed indicator by simply tapping on it
+  - Numerical temperature gauge with the ability to use Fahrenheit by simply tapping on the gauge
+  - Pause lateral control when turn signals are active
+  - Retain tethering status between reboots
+  - Screenrecorder
+  - Sidebar displays by default for easy device monitoring
+  - Silent Mode for a completely silent driving experience
+
+How to Install
 ------
 
-#### Community
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| A Welcoming Community | ❌ | ✅ |
-| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
-
-#### Core Features
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Always On Lateral (Steering) | ❌ | ✅ |
-| Blind Spot Integration | ✅ | ✅ |
-| Conditional Experimental Mode | ❌ | ✅ |
-| Custom Themes | ❌ | ✅ |
-| Driver Monitoring | ✅ | ✅ |
-| Driving Model Selector | ❌ | ✅ |
-| Holiday Themes | ❌ | ✅ |
-| Speed Limit Support | ❌ | ✅ |
-| Weather Detection | ❌ | ✅ |
-
-#### Device & Hardware
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Volume Controller | ❌ | ✅ |
-| Automatic Version Backups | ❌ | ✅ |
-| C3 Support | ❌ | ✅ |
-| comma Pedal Support | ❌ | ✅ |
-| High Quality Recordings | ❌ | ✅ |
-| SDSU Support | ❌ | ✅ |
-| ZSS Support | ❌ | ✅ |
-
-#### Gas/Brake
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Adaptive Cruise Control (ACC) | ✅ | ✅ |
-| Advanced Live Tuning | ❌ | ✅ |
-| Custom Following Distances | ❌ | ✅ |
-| Faster Human-Like Acceleration | ❌ | ✅ |
-| Human-Like Speed Control in Curves | ❌ | ✅ |
-| Smoother Human-Like Braking | ❌ | ✅ |
-
-#### Steering
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Live Tuning | ❌ | ✅ |
-| Automatic Lane Changes | ❌ | ✅ |
-| Increased Steering Torque* | ❌ | ✅ |
-| Lane Centering (LKAS) | ✅ | ✅ |
-| Lane Change Assist | ✅ | ✅ |
-
-*Select vehicles only
-
-And much much more!
-
-🌟 Highlight Features
-------
-
-### 🚗 Always On Lateral (AOL)
-
-With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
-
----
-
-### 🧠 Conditional Experimental Mode (CEM)
-
-**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
-
-**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
-- Approaching curves and turns
-- Detecting slower or stopped lead vehicles
-- Driving below a set speed
-- Predicting an upcoming stop (e.g. stoplight or stop sign)
-
-Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
-
-**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
-
----
-
-### 🎭 Driving Personalities
-
-With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
-
-- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays  
-- **Aggressive:** Aimed to provide tighter following distances and quicker reactions  
-- **Standard:** Useful for a balanced, all-purpose driving  
-- **Relaxed:** A smoother driving experience with larger following distance gaps  
-
-Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
-
----
-
-### 📏 Speed Limit Controller (SLC)
-
-With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
-
-Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
-
-Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
-
-**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
-
----
-
-### 🎨 Themes
-
-With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
-
-- **Color Schemes**
-- **Icon Packs**
-- **Sound Packs**
-- **Turn Signal Animations**
-- **Steering Wheel Icons**
-
-Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
-
----
-
-And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
-
----
-
-🔧 Branches
-------
-| Branch                     | Install&nbsp;URL          | Description                                            | Recommended&nbsp;For     |
-|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
-| FrogPilot                  | frogpilot.download        | The main release branch.                               | Everyone                 |
-| FrogPilot&#8209;Staging    | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs!       | Early&nbsp;Adopters      |
-| FrogPilot&#8209;Testing    | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced&nbsp;Testers    |
-| FrogPilot&#8209;Development| No :)                     | Active development branch. Don't use!                  | **FrogPilot**&nbsp;Developers|
-| MAKE&#8209;PRS&#8209;HERE  | No :)                     | Workspace for pull requests. Don't use!                | Contributors             |
-
-🧰 How to Install
-------
-
-The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
+Easiest way to install FrogPilot is via this URL at the installation screen:
 
 ```
 frogpilot.download
 ```
 
-**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
+DO NOT install the "FrogPilot-Development" branch. I'm constantly breaking things on there so unless you don't want to use openpilot, NEVER install it!
 
-![](https://i.imgur.com/LTCqRqB.png)
+![](https://i.imgur.com/wxKp3JI.png)
 
-🐞 Bug Reports / Feature Requests
+Bug reports / Feature Requests
 ------
 
-If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
+If you encounter any issues or bugs while using FrogPilot, or if you have any suggestions for new features or improvements, please don't hesitate to reach out to me. I'm always looking for ways to improve the fork and provide a better experience for everyone!
 
-To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).  
-To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).  
+To report a bug or request a new feature, feel free to make a post in the respective channel on the FrogPilot Discord. Provide as much detail as possible about the issue you're experiencing or the feature you'd like to see added. Photos, videos, log files, or other relevant information are very helpful!
 
-Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
+I will do my best to respond to bug reports and feature requests in a timely manner, but please understand that I may not be able to address every request immediately. Your feedback and suggestions are valuable, and I appreciate your help in making FrogPilot the best it can be!
 
-I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
+As for feature requests, these are my guidelines:
 
-📋 Credits
+- Can I test it on my 2019 Lexus ES or are you up for testing it?
+- How maintainable is it? Or will it frequently break with future openpilot updates?
+- Is it not currently being developed by comma themselves? (i.e. Navigation)
+
+Discord
 ------
 
-* [Aidenir](https://github.com/Aidenir)
-* [AlexandreSato](https://github.com/AlexandreSato)
-* [cfranyota](https://github.com/cfranyota)
-* [cydia2020](https://github.com/cydia2020)
-* [dragonpilot-community](https://github.com/dragonpilot-community)
-* [ErichMoraga](https://github.com/ErichMoraga)
-* [garrettpall](https://github.com/garrettpall)
-* [jakethesnake420](https://github.com/jakethesnake420)
-* [jyoung8607](https://github.com/jyoung8607)
-* [mike8643](https://github.com/mike8643)
-* [neokii](https://github.com/neokii)
-* [OPGM](https://github.com/opgm)
-* [OPKR](https://github.com/openpilotkr)
-* [pfeiferj](https://github.com/pfeiferj)
-* [realfast](https://github.com/realfast)
-* [syncword](https://github.com/syncword)
-* [twilsonco](https://github.com/twilsonco)
+[Join the FrogPilot Community Discord for easy access to updates, bug reporting, feature requests, future planned updates, and other FrogPilot related discussions!](https://discord.gg/frogpilot)
 
-Star History
+Donations
 ------
 
-[![Star History Chart](https://api.star-history.com/svg?repos=FrogAi/FrogPilot&type=Date)](https://www.star-history.com/#FrogAi/FrogPilot&Date)
+I DO NOT accept donations! So if anyone is claiming to be me or to be a part of FrogPilot and is asking for any type of financial compensation, IT IS A SCAM!
+
+I work on FrogPilot on my own and is purely a passion project to refine my skills and to help improve openpilot for the community. I do not and will not ever expect any type of financial exchange for my work. The only thing I’ll ever ask for in return is constructive feedback!
+
+Credits
+------
+
+* [AlexandreSato](https://github.com/AlexandreSato/openpilot)
+* [Aragon7777](https://github.com/Aragon7777/openpilot)
+* [Crwusiz](https://github.com/crwusiz/openpilot)
+* [DragonPilot](https://github.com/dragonpilot-community/dragonpilot)
+* [ErichMoraga](https://github.com/ErichMoraga/openpilot)
+* [KRKeegan](https://github.com/krkeegan/openpilot)
+* [Move-Fast](https://github.com/move-fast/openpilot)
+* [OPGM](https://github.com/opgm/openpilot)
+* [Pfeiferj](https://github.com/pfeiferj/openpilot)
+* [Sunnyhaibin](https://github.com/sunnyhaibin/sunnypilot)
+* [Twilsonco](https://github.com/twilsonco/openpilot)
+
+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.
+
+**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.**
+
+---
+
+<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>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,16 +1,3 @@
-Version 0.9.7 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-
 Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
@@ -19,9 +6,6 @@ Version 0.9.6 (2024-02-27)
   * 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
@@ -639,7 +623,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to pandad to reduce latency
+ * Synchronize controlsd to boardd to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -975,7 +959,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in pandad
+ * Fix ptr alignment issue in boardd
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1007,7 +991,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix pandad process priority
+ * Fix boardd process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -67,9 +67,13 @@ AddOption('--pc-thneed',
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--nosr',
+          action='store_true',
+          help="don't build the screen recorder")
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -96,6 +100,8 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
 if arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -193,7 +199,6 @@ env = Environment(
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-error=unused-but-set-variable",
-    "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
@@ -209,7 +214,6 @@ env = Environment(
     "#third_party/qrcode",
     "#third_party",
     "#cereal",
-    "#msgq",
     "#opendbc/can",
     "#third_party/maplibre-native-qt/include",
     f"#third_party/maplibre-native-qt/{arch}/include"
@@ -224,9 +228,10 @@ env = Environment(
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
-    "#msgq_repo",
+    "#cereal",
     "#third_party",
-    "#selfdrive/pandad",
+    "#opendbc/can",
+    "#selfdrive/boardd",
     "#common",
     "#rednose/helpers",
   ],
@@ -356,13 +361,15 @@ gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
-Export('messaging')
 
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
+messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
+
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
 # Build other submodules
 SConscript([
@@ -382,22 +389,25 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
+    'system/camerad/SConscript',
     'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+  SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

SECURITY.md

@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

body/.github/workflows/test.yaml

@@ -1,50 +0,0 @@
-name: tests
-on: [push, pull_request]
-
-env:
-  RUN: docker run --rm body /bin/bash -c
-  PERSIST: docker run --name body body /bin/sh -c
-  BUILD: |
-      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
-      docker pull ghcr.io/commaai/body:latest || true
-      docker build --cache-from ghcr.io/commaai/body:latest -t body -f Dockerfile .
-
-jobs:
-  docker_push:
-    name: docker push
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/body'
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Login to dockerhub
-        run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-      - name: Tag image
-        run: docker tag body ghcr.io/commaai/body:latest
-      - name: Push image
-        run: docker push ghcr.io/commaai/body:latest
-
-  build:
-    name: build
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Build firmware
-        run: $RUN "cd /tmp/openpilot/body && scons"
-
-  python_linter:
-    name: python linter
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Run static analysis
-        run: |
-          $RUN "cd /tmp/openpilot/body && git init && git add -A && pre-commit run --all"

body/.pre-commit-config.yaml

@@ -1,20 +0,0 @@
-repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
-    hooks:
-    -   id: check-ast
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
--   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.4.0
-    hooks:
-    -   id: mypy
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl']
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.282
-    hooks:
-    - id: ruff

body/Dockerfile

@@ -1,36 +0,0 @@
-FROM ubuntu:24.04
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    automake \
-    ca-certificates \
-    clang \
-    curl \
-    g++ \
-    gcc-arm-none-eabi libnewlib-arm-none-eabi \
-    git \
-    libtool \
-    libssl-dev \
-    libsqlite3-dev \
-    libffi-dev \
-    locales \
-    make \
-    patch \
-    pkg-config \
-    python3-pip \
-    zlib1g-dev \
- && rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY requirements.txt /tmp/
-RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
-
-COPY . /tmp/openpilot/body
-RUN rm -rf /tmp/openpilot/body/.git

body/LICENSE

@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received.  You must make sure that they, too, receive
-or can get the source code.  And you must show them these terms so they
-know their rights.
-
-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
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-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-Also add information on how to contact you by electronic and paper mail.
-
-  If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
-    <program>  Copyright (C) <year>  <name of author>
-    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
-    This is free software, and you are welcome to redistribute it
-    under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
-  You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-<http://www.gnu.org/licenses/>.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-<http://www.gnu.org/philosophy/why-not-lgpl.html>.

body/README.md

@@ -1,18 +0,0 @@
-# comma body
-
-This the firmware for the comma body robotics dev kit.
-
-
-Learn more at [commabody.com](https://commabody.com/).
-
-## building
-
-Compile: `scons`
-
-Flash bootstub and app: `board/recover.sh`  # STM flasher should be connected to debug port, needs openocd
-
-Flash app through CAN bus with panda:
-
-`board/flash_base.sh`  # base motherboard
-
-`board/flash_knee.sh`  # knee motherboard

body/SConstruct

@@ -1 +0,0 @@
-SConscript('board/SConscript')

body/board/canloader.py

@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import argparse
-import _thread
-from panda import Panda, MCU_TYPE_F4  # pylint: disable=import-error
-from panda.tests.pedal.canhandle import CanHandle  # pylint: disable=import-error
-
-
-def heartbeat_thread(p):
-  while True:
-    try:
-      p.send_heartbeat()
-      time.sleep(0.5)
-    except Exception:
-      continue
-
-def flush_panda():
-  while(1):
-    if len(p.can_recv()) == 0:
-      break
-
-def flasher(p, addr, file):
-  p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
-  time.sleep(0.1)
-  print("flashing", file)
-  flush_panda()
-  code = open(file, "rb").read()
-  retries = 3 # How many times to retry on timeout error
-  while(retries+1>0):
-    try:
-      Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4)
-    except TimeoutError:
-      print("Timeout, trying again...")
-      retries -= 1
-    else:
-      print("Successfully flashed")
-      break
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description='Flash body over can')
-  parser.add_argument("board", type=str, nargs='?', help="choose base or knee")
-  parser.add_argument("fn", type=str, nargs='?', help="flash file")
-  args = parser.parse_args()
-
-  assert args.board in ["base", "knee"]
-  assert os.path.isfile(args.fn)
-
-  addr = 0x250 if args.board == "base" else 0x350
-
-  p = Panda()
-  _thread.start_new_thread(heartbeat_thread, (p,))
-  p.set_safety_mode(Panda.SAFETY_BODY)
-
-  print("Flashing motherboard")
-  flasher(p, addr, args.fn)
-
-  print("CAN flashing done")

body/board/flash_base.sh

@@ -1,6 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-scons -u
-
-./canloader.py base obj/body.bin.signed

body/board/flash_knee.sh

@@ -1,6 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-scons -u
-
-./canloader.py knee obj/body.bin.signed

body/board/obj/cert.h

@@ -0,0 +1,14 @@
+RSAPublicKey debug_rsa_key = {
+  .len = 0x20,
+  .n0inv = 424155863U,
+  .n = {2967635737U,1729484964U,2923910269U,896973705U,2756634505U,1709807447U,859352051U,1472485542U,3894793311U,1758995271U,1038644067U,3403716708U,1897604023U,3841462137U,3816219379U,440074165U,3729800853U,260624241U,1851885412U,4004943886U,1292603008U,3542917226U,911436055U,646960542U,732923244U,2088531324U,2245117918U,3785523979U,457179915U,2220748175U,1183724003U,3185822055U},
+  .rr = {3273109191U,3469007740U,3022601451U,1950134277U,985405731U,4135629386U,2455447451U,3280986897U,2398786518U,3282545666U,234074194U,9520868U,2034083245U,2050827209U,3952400957U,2761293147U,3022794169U,571779422U,596386776U,1456095933U,1696349762U,1186603127U,877771148U,25300791U,1259288593U,3469483597U,490515539U,1207523392U,1069952767U,3645632153U,103445962U,1631238578U},
+  .exponent = 65537,
+};
+RSAPublicKey release_rsa_key = {
+  .len = 0x20,
+  .n0inv = 1360707903U,
+  .n = {3136311617U,2320862383U,803666948U,3430646816U,580574987U,3438755054U,368561231U,2514628750U,1163918779U,1402283812U,3703279536U,3640319338U,2481729960U,1799009981U,3965904331U,1775854474U,2163541227U,3964480191U,4232838337U,1772169236U,2591977211U,2175464477U,855648893U,1705081629U,387118095U,531497093U,2116518570U,858910171U,1495505556U,1118497527U,3665009874U,3325546900U},
+  .rr = {833089023U,2334198892U,2951037656U,3097613940U,1480625656U,2314042190U,767760477U,1330548127U,1851070335U,2943928230U,390126945U,3239825982U,1706845884U,2555293437U,2227978300U,1210679880U,955381365U,1938575352U,3072247641U,9917391U,3743118591U,1096013164U,1945423205U,1015551925U,788452122U,513488935U,145751748U,3046730117U,1184780246U,1616719441U,1144453735U,1858195855U},
+  .exponent = 65537,
+};

body/board/obj/gitversion.h

@@ -0,0 +1 @@
+const uint8_t gitversion[8] = "8312df6b";

body/board/recover.sh

@@ -1,8 +0,0 @@
-#!/usr/bin/env sh
-set -e
-
-FLASH_UTIL="openocd"
-
-scons -u
-
-$FLASH_UTIL -f interface/stlink.cfg -c "set CPUTAPID 0" -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase obj/body.bin.signed 0x08004000" -c "flash write_image erase obj/bootstub.body.bin 0x08000000" -c "reset run" -c "shutdown"

body/pyproject.toml

@@ -1,7 +0,0 @@
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
-[tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003"]
-line-length = 160
-target-version="py311"
-flake8-implicit-str-concat.allow-multiline=false

body/requirements.txt

@@ -1,5 +0,0 @@
-cffi
-scons
-ruff
-pre-commit
-pycryptodome==3.9.8

cereal/.gitignore

@@ -0,0 +1,18 @@
+/gen/
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.o
+*.a
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/

cereal/README.md

@@ -1,60 +0,0 @@
-# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
-
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
-
-
-## Messaging Spec
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
-
-All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-### Best Practices
-
-- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
-- In the context of the message they are in, field names should be completely unambiguous.
-- All values should be easy to plot and be human-readable with minimal parsing.
-
-### Maintaining backwards-compatibility
-
-When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
-be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
-things are not. Read more details [here](https://capnproto.org/language.html).
-
-### Custom forks
-
-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
-
-Example
----
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```

cereal/SConscript

@@ -1,12 +1,13 @@
-Import('env', 'envCython', 'arch', 'common', 'msgq')
+Import('env', 'envCython', 'arch', 'common')
 
 import shutil
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-other_dir = Dir('#msgq')
+messaging_dir = Dir('messaging')
 
 # Build cereal
+
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
@@ -16,16 +17,60 @@ env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
-cereal = env.Library('cereal', cereal_objects)
+env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
 
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
+
+messaging_objects = env.SharedObject([
+  'messaging/messaging.cc',
+  'messaging/event.cc',
+  'messaging/impl_zmq.cc',
+  'messaging/impl_msgq.cc',
+  'messaging/impl_fake.cc',
+  'messaging/msgq.cc',
+  'messaging/socketmaster.cc',
+])
+
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
+Depends('messaging/bridge.cc', services_h)
+
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
 
 
-socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
-socketmaster = env.Library('socketmaster', socketmaster)
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
 
-Export('cereal', 'socketmaster')
+if arch == "larch64":
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+vipc_frameworks = []
+vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
+if arch == "Darwin":
+  vipc_frameworks.append('OpenCL')
+else:
+  vipc_libs.append('OpenCL')
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
+                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+if GetOption('extras'):
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
+              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)

cereal/car.capnp

@@ -84,7 +84,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
-    startupNoSecOcKey @121;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -97,6 +96,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fanMalfunction @91;
     cameraMalfunction @92;
     cameraFrameRate @110;
+    gpsMalfunction @94;
     processNotRunning @95;
     dashcamMode @96;
     controlsInitializing @98;
@@ -116,7 +116,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     locationdPermanentError @118;
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
-    actuatorsApiUnavailable @120;
+
+    # FrogPilot events
+    firefoxSteerSaturated @120;
+    frogSteerSaturated @121;
+    greenLight @122;
+    laneChangeBlockedLoud @123;
+    leadDeparting @124;
+    noLaneAvailable @125;
+    openpilotCrashed @126;
+    openpilotCrashedRandomEvents @127;
+    pedalInterceptorNoBrake @128;
+    speedLimitChanged @129;
+    torqueNNLoad @130;
+    turningLeft @131;
+    turningRight @132;
+    vCruise69 @133;
+    yourFrogTriedToKillMe @134;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -143,7 +159,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
     plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
   }
 }
 
@@ -156,7 +171,6 @@ struct CarState {
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
   canTimeout @40 :Bool;     # CAN bus dropped out
-  canErrorCounter @48 :UInt32;
 
   # car speed
   vEgo @1 :Float32;          # best estimate of speed
@@ -222,9 +236,6 @@ struct CarState {
   fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
   charging @43 :Bool;
 
-  # process meta
-  cumLagMs @50 :Float32;
-
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -282,7 +293,6 @@ struct CarState {
   brakeLightsDEPRECATED @19 :Bool;
   steeringRateLimitedDEPRECATED @29 :Bool;
   canMonoTimesDEPRECATED @12: List(UInt64);
-  canRcvTimeoutDEPRECATED @49 :Bool;
 }
 
 # ******* radar state @ 20hz *******
@@ -330,12 +340,14 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
-  # moved to CarOutput
-  actuatorsOutputDEPRECATED @10 :Actuators;
-
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -385,7 +397,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+    leadVelocity @10: Float32;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -413,6 +425,12 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      # Random Events
+      angry @9;
+      fart @10;
+      firefox @11;
+      noice @12;
     }
   }
 
@@ -424,13 +442,6 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
 # ****** car param ******
 
 struct CarParams {
@@ -440,6 +451,7 @@ struct CarParams {
 
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
+  enableGasInterceptor @2 :Bool;
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
   enableBsm @56 :Bool;       # blind spot monitoring
@@ -491,7 +503,8 @@ struct CarParams {
   startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
@@ -505,9 +518,6 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
-  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
-  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
-
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;
@@ -532,12 +542,11 @@ struct CarParams {
     useSteeringAngle @0 :Bool;
     kp @1 :Float32;
     ki @2 :Float32;
-    kd @8 : Float32;
     friction @3 :Float32;
+    kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
-    kfDEPRECATED @4 :Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -545,7 +554,7 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kfDEPRECATED @6 :Float32;
+    kf @6 :Float32;
     deadzoneBP @4 :List(Float32);
     deadzoneV @5 :List(Float32);
   }
@@ -612,7 +621,6 @@ struct CarParams {
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
     chryslerCusw @30;
-    psa @31;
   }
 
   enum SteerControlType {
@@ -687,7 +695,6 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
-  enableGasInterceptor @2 :Bool;
   enableCameraDEPRECATED @4 :Bool;
   enableApgsDEPRECATED @6 :Bool;
   steerRateCostDEPRECATED @33 :Float32;
@@ -707,5 +714,4 @@ struct CarParams {
   brakeMaxVDEPRECATED @16 :List(Float32);
   directAccelControlDEPRECATED @30 :Bool;
   maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }

cereal/custom.capnp

@@ -1,8 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
-
 @0xb526ba661d550a59;
 
 # custom.capnp: a home for empty structs reserved for custom forks
@@ -10,237 +8,53 @@ using Car = import "car.capnp";
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct FrogPilotCarControl {
-  hudControl @0 :HUDControl;
-
-  struct HUDControl {
-    audibleAlert @0 :AudibleAlert;
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-
-      # Random Events
-      angry @9;
-      continued @10;
-      dejaVu @11;
-      doc @12;
-      fart @13;
-      firefox @14;
-      goat @15;
-      hal9000 @16;
-      mail @17;
-      nessie @18;
-      noice @19;
-      startup @20;
-      thisIsFine @21;
-      uwu @22;
-    }
-  }
+struct FrogPilotCarControl @0x81c2f05a394cf4af {
+  alwaysOnLateral @0 :Bool;
+  speedLimitChanged @1 :Bool;
 }
 
-struct FrogPilotCarEvent @0x81c2f05a394cf4af {
-  name @0 :EventName;
-
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool;
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0xaedffd8f31e7b55d {
-    blockUser @0;
-    customStartupAlert @1;
-    forcingStop @2;
-    goatSteerSaturated @3;
-    greenLight @4;
-    holidayActive @5;
-    laneChangeBlockedLoud @6;
-    leadDeparting @7;
-    noLaneAvailable @8;
-    openpilotCrashed @9;
-    pedalInterceptorNoBrake @10;
-    speedLimitChanged @11;
-    torqueNNLoad @12;
-    trafficModeActive @13;
-    trafficModeInactive @14;
-    turningLeft @15;
-    turningRight @16;
-
-    # Random Events
-    accel30 @17;
-    accel35 @18;
-    accel40 @19;
-    dejaVuCurve @20;
-    firefoxSteerSaturated @21;
-    hal9000 @22;
-    openpilotCrashedRandomEvent @23;
-    thisIsFineSteerSaturated @24;
-    toBeContinued @25;
-    vCruise69 @26;
-    yourFrogTriedToKillMe @27;
-    youveGotMail @28;
-  }
-}
-
-struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
-  canUsePedal @0 :Bool;
-  canUseSDSU @1 :Bool;
-  fpFlags @2 :UInt32;
-  isHDA2 @3 :Bool;
-  openpilotLongitudinalControlDisabled @4 :Bool;
-  safetyConfigs @5 :List(SafetyConfig);
-  canUseSASCM @6 :Bool;
-
-  struct SafetyConfig {
-    safetyParam @0 :UInt16;
-  }
-}
-
-struct FrogPilotCarState @0xda96579883444c35 {
-  accelPressed @0 :Bool;
-  alwaysOnLateralAllowed @1 :Bool;
-  alwaysOnLateralEnabled @2 :Bool;
-  brakeLights @3 :Bool;
-  dashboardSpeedLimit @4 :Float32;
-  decelPressed @5 :Bool;
-  distancePressed @6 :Bool;
-  distanceLongPressed @7 :Bool;
-  distanceVeryLongPressed @8 :Bool;
-  ecoGear @9 :Bool;
-  forceCoast @10 :Bool;
-  pauseLateral @11 :Bool;
-  pauseLongitudinal @12 :Bool;
-  sportGear @13 :Bool;
-  trafficModeEnabled @14 :Bool;
-
-  struct ButtonEvent {
-    enum Type {
-      lkas @0;
-    }
-  }
-}
-
-struct FrogPilotControlsState @0x80ae746ee2596b11 {
-  alertStatus @0 :AlertStatus;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  alertSize @3 :AlertSize;
-  alertBlinkingRate @4 :Float32;
-  alertType @5 :Text;
-  alertSound @6 :Car.CarControl.HUDControl.AudibleAlert;
-
-  enum AlertSize {
-    none @0;    # don't display the alert
-    small @1;   # small box
-    mid @2;     # mid screen
-    full @3;    # full screen
-  }
-
-  enum AlertStatus {
-    normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid priority alert that might require user intervention
-    critical @2;     # high priority alert that needs immediate user intervention
-    frogpilot @3;    # FrogPilot startup alert
-  }
-}
-
-struct FrogPilotDeviceState @0xa5cd762cd951a455 {
+struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
   freeSpace @0 :Int16;
   usedSpace @1 :Int16;
 }
 
-struct FrogPilotModelDataV2 @0xf98d843bfd7004a3 {
-  turnDirection @0 :TurnDirection;
-
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
-}
-
-struct FrogPilotNavigation @0xf416ec09499d9d19 {
+struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
   approachingIntersection @0 :Bool;
   approachingTurn @1 :Bool;
-  navigationSpeedLimit @2 :Float32;
 }
 
-struct FrogPilotPlan @0xa1680744031fdb2d {
-  accelerationJerk @0 :Float32;
-  accelerationJerkStock @1 :Float32;
-  cscControllingSpeed @2 :Bool;
-  cscSpeed @3 :Float32;
-  cscTraining @4 :Bool;
-  dangerJerk @5 :Float32;
-  desiredFollowDistance @6 :Int64;
-  disableThrottle @7 :Bool;
-  experimentalMode @8 :Bool;
-  forcingStop @9 :Bool;
-  forcingStopLength @10 :Float32;
-  frogpilotEvents @11 :List(FrogPilotCarEvent);
-  increasedStoppedDistance @12 :Float32;
-  lateralCheck @13 :Bool;
-  laneWidthLeft @14 :Float32;
-  laneWidthRight @15 :Float32;
-  maxAcceleration @16 :Float32;
-  minAcceleration @17 :Float32;
-  redLight @18 :Bool;
-  roadCurvature @19 :Float32;
-  slcMapSpeedLimit @20 :Float32;
-  slcMapboxSpeedLimit @21 :Float32;
-  slcNextSpeedLimit @22 :Float32;
-  slcOverriddenSpeed @23 :Float32;
-  slcSpeedLimit @24 :Float32;
-  slcSpeedLimitOffset @25 :Float32;
-  slcSpeedLimitSource @26 :Text;
-  speedJerk @27 :Float32;
-  speedJerkStock @28 :Float32;
-  speedLimitChanged @29 :Bool;
-  tFollow @30 :Float32;
-  themeUpdated @31 :Bool;
-  togglesUpdated @32 :Bool;
-  trackingLead @33 :Bool;
-  unconfirmedSlcSpeedLimit @34 :Float32;
-  vCruise @35 :Float32;
+struct FrogPilotPlan @0xda96579883444c35 {
+  adjustedCruise @0 :Float64;
+  conditionalExperimental @1 :Bool;
+  desiredFollowDistance @2 :Int16;
+  laneWidthLeft @3 :Float32;
+  laneWidthRight @4 :Float32;
+  redLight @5 :Bool;
+  safeObstacleDistance @6 :Int16;
+  safeObstacleDistanceStock @7 :Int16;
+  slcOverridden @8 :Bool;
+  slcOverriddenSpeed @9 :Float64;
+  slcSpeedLimit @10 :Float64;
+  slcSpeedLimitOffset @11 :Float32;
+  stoppedEquivalenceFactor @12 :Int16;
+  unconfirmedSlcSpeedLimit @13 :Float64;
+  vtscControllingCurve @14 :Bool;
 }
 
-struct FrogPilotRadarState @0xcb9fd56c7057593a {
-  leadLeft @0 :LeadData;
-  leadRight @1 :LeadData;
+struct CustomReserved4 @0x80ae746ee2596b11 {
+}
 
-  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
 
-    aLeadDEPRECATED @5 :Float32;
-  }
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
 }

cereal/gen/cpp/custom.capnp.c++

@@ -0,0 +1,762 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: custom.capnp
+
+#include "custom.capnp.h"
+
+namespace capnp {
+namespace schemas {
+static const ::capnp::_::AlignedData<52> b_81c2f05a394cf4af = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    175, 244,  76,  57,  90, 240, 194, 129,
+     13,   0,   0,   0,   1,   0,   1,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  10,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  67,  97,
+    114,  67, 111, 110, 116, 114, 111, 108,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
+     97, 108, 119,  97, 121, 115,  79, 110,
+     76,  97, 116, 101, 114,  97, 108,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,  76, 105, 109,
+    105, 116,  67, 104,  97, 110, 103, 101,
+    100,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
+#if !CAPNP_LITE
+static const uint16_t m_81c2f05a394cf4af[] = {0, 1};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
+const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 52, nullptr, m_81c2f05a394cf4af,
+  0, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<51> b_aedffd8f31e7b55d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     93, 181, 231,  49, 143, 253, 223, 174,
+     13,   0,   0,   0,   1,   0,   1,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  18,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  68, 101,
+    118, 105,  99, 101,  83, 116,  97, 116,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     48,   0,   0,   0,   3,   0,   1,   0,
+     60,   0,   0,   0,   2,   0,   1,   0,
+    102, 114, 101, 101,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 115, 101, 100,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
+#if !CAPNP_LITE
+static const uint16_t m_aedffd8f31e7b55d[] = {0, 1};
+static const uint16_t i_aedffd8f31e7b55d[] = {0, 1};
+const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 51, nullptr, m_aedffd8f31e7b55d,
+  0, 2, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<52> b_f35cc4560bbf6ec2 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+     13,   0,   0,   0,   1,   0,   1,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  10,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  78,  97,
+    118, 105, 103,  97, 116, 105, 111, 110,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 194,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     44,   0,   0,   0,   3,   0,   1,   0,
+     56,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
+     97, 112, 112, 114, 111,  97,  99, 104,
+    105, 110, 103,  73, 110, 116, 101, 114,
+    115, 101,  99, 116, 105, 111, 110,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 112, 112, 114, 111,  97,  99, 104,
+    105, 110, 103,  84, 117, 114, 110,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
+#if !CAPNP_LITE
+static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1};
+static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1};
+const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 52, nullptr, m_f35cc4560bbf6ec2,
+  0, 2, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<270> b_da96579883444c35 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     53,  76,  68, 131, 152,  87, 150, 218,
+     13,   0,   0,   0,   1,   0,   7,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 218,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  79,   3,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  80, 108,
+     97, 110,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     60,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    149,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   1,   0,   0,   3,   0,   1,   0,
+    160,   1,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   1,   0,   0, 194,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   1,   0,   0,   3,   0,   1,   0,
+    172,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   1,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    172,   1,   0,   0,   3,   0,   1,   0,
+    184,   1,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    181,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    180,   1,   0,   0,   3,   0,   1,   0,
+    192,   1,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    189,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    188,   1,   0,   0,   3,   0,   1,   0,
+    200,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    197,   1,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    196,   1,   0,   0,   3,   0,   1,   0,
+    208,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    205,   1,   0,   0, 170,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    208,   1,   0,   0,   3,   0,   1,   0,
+    220,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,  11,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    217,   1,   0,   0, 210,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    224,   1,   0,   0,   3,   0,   1,   0,
+    236,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    233,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    232,   1,   0,   0,   3,   0,   1,   0,
+    244,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   1,   0,   0,   3,   0,   1,   0,
+      0,   2,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    253,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    252,   1,   0,   0,   3,   0,   1,   0,
+      8,   2,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   2,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      8,   2,   0,   0,   3,   0,   1,   0,
+     20,   2,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  22,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   2,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   2,   0,   0,   3,   0,   1,   0,
+     36,   2,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,  13,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   2,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   2,   0,   0,   3,   0,   1,   0,
+     52,   2,   0,   0,   2,   0,   1,   0,
+     14,   0,   0,   0,  67,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   2,   0,   0, 170,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   2,   0,   0,   3,   0,   1,   0,
+     64,   2,   0,   0,   2,   0,   1,   0,
+     97, 100, 106, 117, 115, 116, 101, 100,
+     67, 114, 117, 105, 115, 101,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 111, 110, 100, 105, 116, 105, 111,
+    110,  97, 108,  69, 120, 112, 101, 114,
+    105, 109, 101, 110, 116,  97, 108,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 101, 115, 105, 114, 101, 100,  70,
+    111, 108, 108, 111, 119,  68, 105, 115,
+    116,  97, 110,  99, 101,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101,  87, 105, 100, 116,
+    104,  76, 101, 102, 116,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101,  87, 105, 100, 116,
+    104,  82, 105, 103, 104, 116,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    114, 101, 100,  76, 105, 103, 104, 116,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115,  97, 102, 101,  79,  98, 115, 116,
+     97,  99, 108, 101,  68, 105, 115, 116,
+     97, 110,  99, 101,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115,  97, 102, 101,  79,  98, 115, 116,
+     97,  99, 108, 101,  68, 105, 115, 116,
+     97, 110,  99, 101,  83, 116, 111,  99,
+    107,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  79, 118, 101, 114, 114,
+    105, 100, 100, 101, 110,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  79, 118, 101, 114, 114,
+    105, 100, 100, 101, 110,  83, 112, 101,
+    101, 100,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  83, 112, 101, 101, 100,
+     76, 105, 109, 105, 116,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  83, 112, 101, 101, 100,
+     76, 105, 109, 105, 116,  79, 102, 102,
+    115, 101, 116,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 111, 112, 112, 101, 100,  69,
+    113, 117, 105, 118,  97, 108, 101, 110,
+     99, 101,  70,  97,  99, 116, 111, 114,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 110,  99, 111, 110, 102, 105, 114,
+    109, 101, 100,  83, 108,  99,  83, 112,
+    101, 101, 100,  76, 105, 109, 105, 116,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118, 116, 115,  99,  67, 111, 110, 116,
+    114, 111, 108, 108, 105, 110, 103,  67,
+    117, 114, 118, 101,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
+#if !CAPNP_LITE
+static const uint16_t m_da96579883444c35[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
+static const uint16_t i_da96579883444c35[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
+const ::capnp::_::RawSchema s_da96579883444c35 = {
+  0xda96579883444c35, b_da96579883444c35.words, 270, nullptr, m_da96579883444c35,
+  0, 15, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     17, 107,  89, 226, 110, 116, 174, 128,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  52,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
+  0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     85, 164,  81, 217,  44, 118, 205, 165,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  53,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
+  0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    163,   4, 112, 253,  59, 132, 141, 249,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  54,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
+  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    200,   1,  76,  33, 105,  99, 110, 184,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  55,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
+  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     25, 157, 157,  73,   9, 236,  22, 244,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  56,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
+  0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     45, 219,  31,   3,  68,   7, 104, 161,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  57,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a1680744031fdb2d = {
+  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+}  // namespace schemas
+}  // namespace capnp
+
+// =======================================================================================
+
+namespace cereal {
+
+// FrogPilotCarControl
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t FrogPilotCarControl::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotCarControl::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind FrogPilotCarControl::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotCarControl::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// FrogPilotDeviceState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind FrogPilotDeviceState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotDeviceState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// FrogPilotNavigation
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t FrogPilotNavigation::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotNavigation::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind FrogPilotNavigation::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotNavigation::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// FrogPilotPlan
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t FrogPilotPlan::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotPlan::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind FrogPilotPlan::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotPlan::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved4
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved5
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved6
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved7
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved8
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved9
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+
+}  // namespace
+

cereal/log.capnp

@@ -29,7 +29,6 @@ struct InitData {
   osVersion @18 :Text;
 
   dongleId @2 :Text;
-  bootlogId @22 :Text;
 
   deviceType @3 :DeviceType;
   version @4 :Text;
@@ -58,7 +57,6 @@ struct InitData {
     tici @4;
     pc @5;
     tizi @6;
-    mici @7;
   }
 
   struct PandaInfo {
@@ -199,13 +197,6 @@ struct Thumbnail {
   frameId @0 :UInt32;
   timestampEof @1 :UInt64;
   thumbnail @2 :Data;
-  encoding @3 :Encoding;
-
-  enum Encoding {
-    unknown @0;
-    jpeg @1;
-    keyframe @2;
-  }
 }
 
 struct GPSNMEAData {
@@ -259,7 +250,7 @@ struct SensorEventData {
 
 # android struct GpsLocation
 struct GpsLocationData {
-  # Contains module-specific flags.
+  # Contains GpsLocationFlags bits.
   flags @0 :UInt16;
 
   # Represents latitude in degrees.
@@ -277,8 +268,8 @@ struct GpsLocationData {
   # Represents heading in degrees.
   bearingDeg @5 :Float32;
 
-  # Represents expected horizontal accuracy in meters.
-  horizontalAccuracy @6 :Float32;
+  # Represents expected accuracy in meters. (presumably 1 sigma?)
+  accuracy @6 :Float32;
 
   unixTimestampMillis @7 :Int64;
 
@@ -296,8 +287,6 @@ struct GpsLocationData {
   # Represents velocity accuracy in m/s. (presumably 1 sigma?)
   speedAccuracy @12 :Float32;
 
-  hasFix @13 :Bool;
-
   enum SensorSource {
     android @0;
     iOS @1;
@@ -308,7 +297,6 @@ struct GpsLocationData {
     ublox @6;
     trimble @7;
     qcomdiag @8;
-    unicore @9;
   }
 }
 
@@ -335,6 +323,12 @@ enum LaneChangeDirection {
   right @2;
 }
 
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -343,8 +337,6 @@ struct CanData {
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
-  deviceType @45 :InitData.DeviceType;
-
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -450,6 +442,7 @@ struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
   pandaType @10 :PandaType;
   ignitionCan @13 :Bool;
   faultStatus @15 :FaultStatus;
@@ -497,7 +490,7 @@ struct PandaState @0xa7649e2575e4591e {
     interruptRateCan2 @3;
     interruptRateCan3 @4;
     interruptRateTach @5;
-    interruptRateGmlanDEPRECATED @6;
+    interruptRateGmlan @6;
     interruptRateInterrupts @7;
     interruptRateSpiDma @8;
     interruptRateSpiCs @9;
@@ -583,7 +576,6 @@ struct PandaState @0xa7649e2575e4591e {
   gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
@@ -695,7 +687,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   active @36 :Bool;
 
   experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vPid @2 :Float32;
@@ -721,6 +712,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   engageable @41 :Bool;  # can OP be engaged?
 
   cumLagMs @15 :Float32;
+  canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -745,6 +737,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     normal @0;       # low priority alert for user's convenience
     userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
+    frogpilot @3;    # green startup alert
   }
 
   enum AlertSize {
@@ -795,8 +788,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
-    desiredLateralJerk @11 :Float32;
-    version @12 :Int32;
+    nnLog @11 :List(Float32);
    }
 
   struct LateralLQRState {
@@ -867,39 +859,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
-  canErrorCounterDEPRECATED @57 :UInt32;
-}
-
-struct DrivingModelData {
-  frameId @0 :UInt32;
-  frameIdExtra @1 :UInt32;
-  frameDropPerc @6 :Float32;
-  modelExecutionTime @7 :Float32;
-
-  action @2 :ModelDataV2.Action;
-
-  laneLineMeta @3 :LaneLineMeta;
-  meta @4 :MetaData;
-
-  path @5 :PolyPath;
-
-  struct PolyPath {
-    xCoefficients @0 :List(Float32);
-    yCoefficients @1 :List(Float32);
-    zCoefficients @2 :List(Float32);
-  }
-
-  struct LaneLineMeta {
-    leftY @0 :Float32;
-    rightY @1 :Float32;
-    leftProb @2 :Float32;
-    rightProb @3 :Float32;
-  }
-
-  struct MetaData {
-    laneChangeState @0 :LaneChangeState;
-    laneChangeDirection @1 :LaneChangeDirection;
-  }
 }
 
 # All SI units and in device frame
@@ -992,6 +951,7 @@ struct ModelDataV2 {
     hardBrakePredicted @7 :Bool;
     laneChangeState @8 :LaneChangeState;
     laneChangeDirection @9 :LaneChangeDirection;
+    turnDirection @10 :TurnDirection;
 
 
     # deprecated
@@ -1014,8 +974,6 @@ struct ModelDataV2 {
     brake3MetersPerSecondSquaredProbs @4 :List(Float32);
     brake4MetersPerSecondSquaredProbs @5 :List(Float32);
     brake5MetersPerSecondSquaredProbs @6 :List(Float32);
-    gasPressProbs @7 :List(Float32);
-    brakePressProbs @8 :List(Float32);
   }
 
   struct Pose {
@@ -1038,8 +996,6 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
-    desiredAcceleration @1 :Float32;
-    shouldStop @2 :Bool;
   }
 }
 
@@ -1098,13 +1054,9 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
-  aTarget @18 :Float32;
-  shouldStop @37: Bool;
-  allowThrottle @38: Bool;
-  allowBrake @39: Bool;
-
 
   solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -1119,6 +1071,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   aCruiseDEPRECATED @17 :Float32;
   vTargetDEPRECATED @3 :Float32;
   vTargetFutureDEPRECATED @14 :Float32;
+  aTargetDEPRECATED @18 :Float32;
   vStartDEPRECATED @26 :Float32;
   aStartDEPRECATED @27 :Float32;
   vMaxDEPRECATED @20 :Float32;
@@ -1141,7 +1094,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   eventsDEPRECATED @13 :List(Car.CarEvent);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;
 
   struct GpsTrajectory {
     x @0 :List(Float32);
@@ -1182,6 +1134,29 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
     u @1 :List(Float32);
   }
 
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
+
   # deprecated
   curvatureDEPRECATED @22 :Float32;
   curvatureRateDEPRECATED @23 :Float32;
@@ -1259,38 +1234,6 @@ struct LiveLocationKalman {
   }
 }
 
-
-struct LivePose {
-  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
-  orientationNED @0 :XYZMeasurement;
-  velocityDevice @1 :XYZMeasurement;
-  accelerationDevice @2 :XYZMeasurement;
-  angularVelocityDevice @3 :XYZMeasurement;
-
-  inputsOK @4 :Bool = false;
-  posenetOK @5 :Bool = false;
-  sensorsOK @6 :Bool = false;
-
-  filterState @7 :FilterState;
-
-  struct XYZMeasurement {
-    x @0 :Float32;
-    y @1 :Float32;
-    z @2 :Float32;
-    xStd @3 :Float32;
-    yStd @4 :Float32;
-    zStd @5 :Float32;
-    valid @6 :Bool;
-  }
-
-  struct FilterState {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-    valid @2 : Bool;
-  }
-}
-
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2111,22 +2054,6 @@ struct LiveTorqueParametersData {
   useParams @12 :Bool;
 }
 
-struct LiveDelayData {
-  lateralDelay @0 :Float32;
-  validBlocks @1 :Int32;
-  status @2 :Status;
-
-  lateralDelayEstimate @3 :Float32;
-  lateralDelayEstimateStd @5 :Float32;
-  points @4 :List(Float32);
-
-  enum Status {
-    unestimated @0;
-    estimated @1;
-    invalid @2;
-  }
-}
-
 struct LiveMapDataDEPRECATED {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
@@ -2332,7 +2259,6 @@ struct Event {
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
-    carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
@@ -2343,17 +2269,15 @@ struct Event {
     gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @130 : LiveDelayData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
-    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
-    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
+    navModel @104 :NavModelData;
 
     # camera stuff, each camera state has a matching encode idx
     roadCameraState @2 :FrameData;
@@ -2408,15 +2332,15 @@ struct Event {
 
     # *********** Custom: reserved for forks ***********
     frogpilotCarControl @107 :Custom.FrogPilotCarControl;
-    frogpilotCarParams @108 :Custom.FrogPilotCarParams;
-    frogpilotCarState @109 :Custom.FrogPilotCarState;
-    frogpilotControlsState @110 :Custom.FrogPilotControlsState;
-    frogpilotDeviceState @111 :Custom.FrogPilotDeviceState;
-    frogpilotModelV2 @112 :Custom.FrogPilotModelDataV2;
-    frogpilotNavigation @113 :Custom.FrogPilotNavigation;
-    frogpilotOnroadEvents @114: List(Custom.FrogPilotCarEvent);
-    frogpilotPlan @115 :Custom.FrogPilotPlan;
-    frogpilotRadarState @116 :Custom.FrogPilotRadarState;
+    frogpilotDeviceState @108 :Custom.FrogPilotDeviceState;
+    frogpilotNavigation @109 :Custom.FrogPilotNavigation;
+    frogpilotPlan @110 :Custom.FrogPilotPlan;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
+    customReserved7 @114 :Custom.CustomReserved7;
+    customReserved8 @115 :Custom.CustomReserved8;
+    customReserved9 @116 :Custom.CustomReserved9;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2457,6 +2381,5 @@ struct Event {
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModel @104 :NavModelData;
   }
 }

cereal/maptile.capnp

@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}

cereal/messaging/__init__.py

@@ -1,8 +1,7 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from .messaging_pyx import MultiplePublishersError, MessagingError
 
 import os
 import capnp
@@ -14,8 +13,27 @@ from collections import deque
 from cereal import log
 from cereal.services import SERVICE_LIST
 
+assert MultiplePublishersError
+assert MessagingError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
 
 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
   with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
@@ -37,10 +55,58 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
+def pub_sock(endpoint: str) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret
+
+
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:  # Timeout hit
+      break
+
+    dat = log_from_bytes(dat)
+    ret.append(dat)
+
+  return ret
 
 
 # TODO: print when we drop packets?
@@ -114,8 +180,9 @@ class SubMaster:
     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 bool(int(os.getenv("SIMULATION", "0"))):
+      self.ignore_alive = services
+      self.ignore_average_freq = services
 
     # 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."
@@ -186,7 +253,7 @@ class SubMaster:
       self.valid[s] = msg.valid
 
     for s in self.data:
-      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
+      if SERVICE_LIST[s].frequency > 1e-5:
         # alive if delay is within 10x the expected frequency
         self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
 
@@ -206,10 +273,7 @@ class SubMaster:
         self.freq_ok[s] = avg_freq_ok or recent_freq_ok
       else:
         self.freq_ok[s] = True
-        if self.simulation:
-          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
-        else:
-          self.alive[s] = True
+        self.alive[s] = True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     if service_list is None:

cereal/messaging/bridge.cc

@@ -8,8 +8,8 @@
 typedef void (*sighandler_t)(int sig);
 
 #include "cereal/services.h"
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/impl_msgq.h"
+#include "cereal/messaging/impl_zmq.h"
 
 std::atomic<bool> do_exit = false;
 static void set_do_exit(int sig) {