Revert "Reapply "Reapply "ICBM?"""

This reverts commit 649dc17f8a.

.claude/settings.local.json

@@ -1,9 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(python3 -c \"import json; json.load\\(open\\(r'c:\\\\Users\\\\user\\\\Documents\\\\GitHub\\\\openpilot\\\\starpilot\\\\system\\\\the_pond\\\\assets\\\\components\\\\tools\\\\device_settings_layout.json'\\)\\)\")",
-      "Bash(python3 -m py_compile \"c:\\\\Users\\\\user\\\\Documents\\\\GitHub\\\\openpilot\\\\starpilot\\\\controls\\\\lib\\\\starpilot_vcruise.py\")",
-      "Bash(python3 -m py_compile \"c:\\\\Users\\\\user\\\\Documents\\\\GitHub\\\\openpilot\\\\selfdrive\\\\ui\\\\layouts\\\\settings\\\\starpilot\\\\longitudinal.py\")"
-    ]
-  }
-}

.codespellignore

@@ -0,0 +1,6 @@
+Wen
+REGIST
+PullRequest
+cancelled
+FOF
+NoO

.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/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki

.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/labeler.yaml

@@ -1,27 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.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

@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}

.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_bluescreens.yaml

@@ -1,211 +0,0 @@
-name: Compile Bluescreens
-
-on:
-  workflow_dispatch:
-    inputs:
-      target_ref:
-        description: "Branch to build and publish back to"
-        type: string
-        default: "bluescreensonly2"
-        required: true
-      jobs:
-        description: "Optional parallel job count passed to ./build"
-        type: string
-        default: "12"
-        required: false
-      enable_scons_cache:
-        description: "Enable SCons cache for faster incremental builds"
-        type: boolean
-        default: true
-        required: false
-      build_all:
-        description: "Build everything"
-        type: boolean
-        default: true
-        required: false
-      build_ui:
-        description: "Build UI (selfdrive/ui)"
-        type: boolean
-        default: true
-        required: false
-      build_params:
-        description: "Build params Python extension"
-        type: boolean
-        default: false
-        required: false
-      build_cereal:
-        description: "Build cereal messaging bridge"
-        type: boolean
-        default: false
-        required: false
-      build_panda:
-        description: "Build panda firmware outputs"
-        type: boolean
-        default: true
-        required: false
-      build_modeld:
-        description: "Build modeld Python extension"
-        type: boolean
-        default: false
-        required: false
-      build_controls:
-        description: "Build controls solvers + locationd generated models"
-        type: boolean
-        default: false
-        required: false
-
-concurrency:
-  group: compile-bluescreens-${{ inputs.target_ref }}
-  cancel-in-progress: false
-
-permissions:
-  contents: write
-
-env:
-  GIT_EMAIL: "168790843+firestar5683@users.noreply.github.com"
-  GIT_NAME: "StarPilot Build Bot"
-  TARGET_REF: ${{ inputs.target_ref }}
-
-jobs:
-  build_and_push:
-    runs-on: [self-hosted, truenas, starpilot-build]
-    timeout-minutes: 720
-    steps:
-      - name: Validate target branch
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ -z "${TARGET_REF}" ]]; then
-            echo "target_ref is required." >&2
-            exit 1
-          fi
-
-          if [[ "${TARGET_REF}" == refs/heads/* ]]; then
-            echo "BUILD_BRANCH=${TARGET_REF#refs/heads/}" >> "$GITHUB_ENV"
-          else
-            echo "BUILD_BRANCH=${TARGET_REF}" >> "$GITHUB_ENV"
-          fi
-
-      - name: Checkout target branch
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ env.BUILD_BRANCH }}
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Configure git identity
-        shell: bash
-        run: |
-          set -euo pipefail
-          git config user.name "$GIT_NAME"
-          git config user.email "$GIT_EMAIL"
-          git config http.postBuffer 104857600
-
-      - name: Ensure branch exists on origin
-        shell: bash
-        run: |
-          set -euo pipefail
-          git ls-remote --exit-code --heads origin "refs/heads/${BUILD_BRANCH}" >/dev/null
-
-      - name: Link persistent sysroot
-        shell: bash
-        run: |
-          set -euo pipefail
-          ls -ld /runner /runner/sysroots /runner/sysroots/default || true
-          ls -ld /runner/sysroots/default/usr /runner/sysroots/default/usr/local /runner/sysroots/default/usr/local/lib || true
-          rm -rf .comma_sysroot
-          ln -s /runner/sysroots/default .comma_sysroot
-          ls -ld .comma_sysroot .comma_sysroot/usr .comma_sysroot/usr/local .comma_sysroot/usr/local/lib
-
-      - name: Run Bluescreens build
-        shell: bash
-        env:
-          SP_ENABLE_SCONS_CACHE: ${{ inputs.enable_scons_cache && '1' || '0' }}
-        run: |
-          set -euo pipefail
-
-          RUNNER_HOST_ROOT="/mnt/Apparition/My_App_Data/starpilot-runner"
-          if [[ "${GITHUB_WORKSPACE}" != /runner/_work/* ]]; then
-            echo "Unexpected GITHUB_WORKSPACE: ${GITHUB_WORKSPACE}" >&2
-            exit 1
-          fi
-
-          WORKSPACE_REL="${GITHUB_WORKSPACE#/runner}"
-          export COMMA_HOST_ROOT_DIR="${RUNNER_HOST_ROOT}${WORKSPACE_REL}"
-          export COMMA_HOST_SYSROOT_DIR="${RUNNER_HOST_ROOT}/sysroots/default"
-          export COMMA_HOST_CACHE_DIR="${RUNNER_HOST_ROOT}/cache/work"
-          export COMMA_HOST_VENV_DIR="${RUNNER_HOST_ROOT}/cache/venv-linux-arm64"
-          export COMMA_SYSROOT_DIR="/runner/sysroots/default"
-
-          echo "GITHUB_WORKSPACE=${GITHUB_WORKSPACE}"
-          echo "COMMA_HOST_ROOT_DIR=${COMMA_HOST_ROOT_DIR}"
-          echo "COMMA_HOST_SYSROOT_DIR=${COMMA_HOST_SYSROOT_DIR}"
-          echo "COMMA_HOST_CACHE_DIR=${COMMA_HOST_CACHE_DIR}"
-          echo "COMMA_HOST_VENV_DIR=${COMMA_HOST_VENV_DIR}"
-
-          JOBS="${{ inputs.jobs }}"
-
-          if [[ "${{ inputs.build_all }}" == "true" ]]; then
-            if [[ -n "${JOBS}" ]]; then
-              ./build "${JOBS}"
-            else
-              ./build
-            fi
-            exit 0
-          fi
-
-          TARGETS=()
-          [[ "${{ inputs.build_ui }}" == "true" ]] && TARGETS+=("selfdrive/ui/ui")
-          [[ "${{ inputs.build_params }}" == "true" ]] && TARGETS+=("common/params_pyx.so")
-          [[ "${{ inputs.build_cereal }}" == "true" ]] && TARGETS+=("cereal/messaging/bridge")
-          if [[ "${{ inputs.build_panda }}" == "true" ]]; then
-            TARGETS+=(
-              "panda/board/obj/panda.bin.signed"
-              "panda/board/obj/panda_h7.bin.signed"
-              "panda/board/obj/panda_remote.bin.signed"
-              "panda/board/obj/panda_h7_remote.bin.signed"
-              "panda/board/obj/panda_jungle_h7.bin.signed"
-              "panda/board/obj/body_h7.bin.signed"
-            )
-          fi
-          [[ "${{ inputs.build_modeld }}" == "true" ]] && TARGETS+=("selfdrive/modeld/models/commonmodel_pyx.so")
-          if [[ "${{ inputs.build_controls }}" == "true" ]]; then
-            TARGETS+=(
-              "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so"
-              "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"
-              "selfdrive/locationd/models/generated/car.cpp"
-              "selfdrive/locationd/models/generated/pose.cpp"
-            )
-          fi
-
-          if [[ ${#TARGETS[@]} -eq 0 ]]; then
-            echo "No partial targets selected; defaulting to UI + panda"
-            TARGETS=("selfdrive/ui/ui" "panda/board/obj/panda.bin.signed")
-          fi
-
-          echo "Running partial build for targets: ${TARGETS[*]}"
-          if [[ -n "${JOBS}" ]]; then
-            ./build "${JOBS}" "${TARGETS[@]}"
-          else
-            ./build "$(nproc)" "${TARGETS[@]}"
-          fi
-
-      - name: Commit build output
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ -z "$(git status --porcelain --untracked-files=no)" ]]; then
-            echo "No build output changes detected."
-            exit 0
-          fi
-
-          git add -u
-          git commit -m "build"
-
-      - name: Push build commit
-        shell: bash
-        run: |
-          set -euo pipefail
-          git push origin "HEAD:refs/heads/${BUILD_BRANCH}"

.github/workflows/compile_starpilot.yaml

@@ -1,115 +0,0 @@
-name: Compile StarPilot
-
-on:
-  workflow_dispatch:
-    inputs:
-      target_ref:
-        description: "Branch to build and publish back to"
-        type: string
-        default: "master"
-        required: true
-      jobs:
-        description: "Optional parallel job count passed to ./build"
-        type: string
-        default: "12"
-        required: false
-
-concurrency:
-  group: compile-starpilot-${{ inputs.target_ref }}
-  cancel-in-progress: false
-
-permissions:
-  contents: write
-
-env:
-  GIT_EMAIL: "168790843+firestar5683@users.noreply.github.com"
-  GIT_NAME: "StarPilot Build Bot"
-  TARGET_REF: ${{ inputs.target_ref }}
-
-jobs:
-  build_and_push:
-    runs-on: [self-hosted, truenas, starpilot-build]
-    timeout-minutes: 720
-    steps:
-      - name: Validate target branch
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ -z "${TARGET_REF}" ]]; then
-            echo "target_ref is required." >&2
-            exit 1
-          fi
-
-          if [[ "${TARGET_REF}" == refs/heads/* ]]; then
-            echo "BUILD_BRANCH=${TARGET_REF#refs/heads/}" >> "$GITHUB_ENV"
-          else
-            echo "BUILD_BRANCH=${TARGET_REF}" >> "$GITHUB_ENV"
-          fi
-
-      - name: Checkout target branch
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ env.BUILD_BRANCH }}
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Configure git identity
-        shell: bash
-        run: |
-          set -euo pipefail
-          git config user.name "$GIT_NAME"
-          git config user.email "$GIT_EMAIL"
-          git config http.postBuffer 104857600
-
-      - name: Ensure branch exists on origin
-        shell: bash
-        run: |
-          set -euo pipefail
-          git ls-remote --exit-code --heads origin "refs/heads/${BUILD_BRANCH}" >/dev/null
-
-      - name: Link persistent sysroot
-        shell: bash
-        run: |
-          set -euo pipefail
-          ls -ld /runner /runner/sysroots /runner/sysroots/default || true
-          ls -ld /runner/sysroots/default/usr /runner/sysroots/default/usr/local /runner/sysroots/default/usr/local/lib || true
-          rm -rf .comma_sysroot
-          ln -s /runner/sysroots/default .comma_sysroot
-          ls -ld .comma_sysroot .comma_sysroot/usr .comma_sysroot/usr/local .comma_sysroot/usr/local/lib
-
-      - name: Run StarPilot device build
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          export COMMA_HOST_ROOT_DIR="/mnt/Apparition/My_App_Data/starpilot-runner/_work/${GITHUB_REPOSITORY#*/}/${GITHUB_REPOSITORY#*/}"
-          export COMMA_HOST_SYSROOT_DIR="/mnt/Apparition/My_App_Data/starpilot-runner/sysroots/default"
-          export COMMA_HOST_CACHE_DIR="/mnt/Apparition/My_App_Data/starpilot-runner/cache/work"
-          export COMMA_HOST_VENV_DIR="/mnt/Apparition/My_App_Data/starpilot-runner/cache/venv-linux-arm64"
-          export COMMA_SYSROOT_DIR="/runner/sysroots/default"
-
-          if [[ -n "${{ inputs.jobs }}" ]]; then
-            ./build "${{ inputs.jobs }}"
-          else
-            ./build
-          fi
-
-      - name: Commit build output
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ -z "$(git status --porcelain --untracked-files=no)" ]]; then
-            echo "No build output changes detected."
-            exit 0
-          fi
-
-          git add -u
-          git commit -m "build"
-
-      - name: Push build commit
-        shell: bash
-        run: |
-          set -euo pipefail
-          git push origin "HEAD:refs/heads/${BUILD_BRANCH}"

.github/workflows/publish_truenas_runner.yaml

@@ -1,35 +0,0 @@
-name: Publish TrueNAS Runner Image
-
-on:
-  workflow_dispatch:
-    inputs:
-      image_tag:
-        description: "Container tag to publish to GHCR"
-        type: string
-        default: "latest"
-        required: true
-
-permissions:
-  contents: read
-  packages: write
-
-jobs:
-  publish:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Log in to GHCR
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push runner image
-        uses: docker/build-push-action@v6
-        with:
-          context: .
-          file: tools/truenas_github_runner/Dockerfile
-          push: true
-          tags: ghcr.io/${{ github.repository_owner }}/starpilot-truenas-runner:${{ inputs.image_tag }}

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

@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT

.github/workflows/setup/action.yaml

@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}

.gitignore

@@ -13,10 +13,6 @@ venv/
 a.out
 .hypothesis
 .cache/
-.host_runtime/
-.comma_sysroot/
-.venv-linux-arm64/
-compiledmodels/
 
 /docs_site/
 
@@ -48,13 +44,14 @@ clcache
 compile_commands.json
 compare_runtime*.html
 
+selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/ui/translations/tmp
 selfdrive/car/tests/cars_dump
+system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/ui/ui.macos
-selfdrive/ui/ui.larch64
 
 .coverage*
 coverage.xml
@@ -68,16 +65,9 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/models/*.pkl
-!selfdrive/modeld/models/driving_vision_tinygrad.pkl
-!selfdrive/modeld/models/driving_policy_tinygrad.pkl
-!selfdrive/modeld/models/driving_vision_metadata.pkl
-!selfdrive/modeld/models/driving_policy_metadata.pkl
-!selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
-!selfdrive/modeld/models/dmonitoring_model_metadata.pkl
-!selfdrive/modeld/models/warp_1928x1208_tinygrad.pkl
-!selfdrive/modeld/models/warp_1344x760_tinygrad.pkl
-!selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl
-!selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
@@ -109,28 +99,7 @@ Pipfile
 .history
 .ionide
 
-# Keep prebuilt runtime artifacts trackable
-!cereal/messaging/bridge
-!system/camerad/camerad
-!system/loggerd/loggerd
-!system/loggerd/encoderd
-!system/loggerd/bootlog
-!selfdrive/pandad/pandad
-!cereal/services.h
-!cereal/libcereal.a
-!cereal/libsocketmaster.a
-!common/params_pyx.so
-!common/params_pyx.cpp
-!common/transformations/transformations.so
-!selfdrive/modeld/models/commonmodel_pyx.so
-!selfdrive/pandad/pandad_api_impl.so
-!selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-!selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so
-!selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-!selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
-!common/libcommon.a
-!msgq_repo/msgq/ipc_pyx.so
-!msgq_repo/msgq/visionipc/visionipc_pyx.so
-!rednose_repo/rednose/helpers/ekf_sym_pyx.so
-!panda/board/obj/
-!panda/board/obj/**
+### JetBrains ###
+!.idea/customTargets.xml
+!.idea/tools/*
+!.run/*

.vscode/extensions.json

@@ -4,6 +4,5 @@
     "ms-vscode.cpptools",
     "elagil.pre-commit-helper",
     "charliermarsh.ruff",
-    "openai.chatgpt",
   ]
 }

Dockerfile.openpilot_base

@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001

Dockerfile.sunnypilot

@@ -0,0 +1,12 @@
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot_base

@@ -0,0 +1,83 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+    rsync \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE-MDI

@@ -1,202 +0,0 @@
-
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
-      "License" shall mean the terms and conditions for use, reproduction,
-      and distribution as defined by Sections 1 through 9 of this document.
-
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LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,79 +1,130 @@
-# StarPilot
+![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
-[![Last Updated](https://img.shields.io/github/last-commit/firestar5683/StarPilot/StarPilot)](https://github.com/firestar5683/StarPilot)
-[![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
+## 🌞 What is sunnypilot?
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
-an open source driver assistance system.
-
-
-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
-
-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
-
-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
-
-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
+https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
-installation guides, and software configuration.
+## 🚘 Running on a dedicated device in a car
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
-## Features
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
-* Full support for Comma C3, C3X, and C4
-  * C4 is currently in release testing. Join our fleet of C4 testers!
-* Model switcher with all of comma's tinygrad driving models
-* Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
-* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
-Download models, change settings, update software, visualize live model outputs for tuning.
-* Always On Lateral (full time steering assist)*
-* Speed Limit Controller*
-* Learning Curve Speed Controller*
-* Conditional Experimental Mode (CEM)*
-* Driving Profiles*
-* Custom themes*
-* Alert Volume Controller*
-* Comma Pedal Interceptor support*
-* Toyota SDSU support*
-* ZSS support*
-* High quality dashcam recordings*
-* Enhanced tuning for CEM (dynamic experimental mode switching)
+## Installation
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
 
-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
-## GM-only Features
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
 
-* Increased LKAS fault resiliency
-* ASCM_INT and SASCM support
-* Custom lateral torque controller, with special tuning for Bolts
-* 50% extra torque on 2017 Chevy Bolt
-* Improved lateral and longitudinal tuning
-* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
-* Extra steering wheel button functionality for vehicles with pedal interceptor
-* Optional toggle to boot comma when remote starting your vehicle
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
 
-## Developer Features
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
 
-* Native and cross compilation for Windows, Mac, and Ubuntu
-* Custom AGNOS to support C3, C3X, and C4
-* To run UI on PC:
-  * `./c3` for large UI
-  * `./c4` for small UI
-* `./build` to produce cross compiled binaries for comma devices.
-Uses your comma's sysroot/toolchain
-* Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
-* Custom long maneuver tests, specifically designed for regen-only vehicles
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
 
-## Third-Party Notices
-* Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
+
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
+
+## 🎆 Pull Requests
+We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
+
+Pull requests should be against the most current `master` branch.
+
+## 📊 User Data
+
+By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
+
+sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
+
+sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+
+By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+## Licensing
+
+sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
+
+The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+
+> 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.**
+
+For full license terms, please see the [`LICENSE`](LICENSE) file.
+
+## 💰 Support sunnypilot
+If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+
+
+By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+
+
+<h3>GitHub Sponsor</h3>
+
+<a href="https://github.com/sponsors/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
+
+<h3>PayPal</h3>
+
+<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+Your continuous love and support are greatly appreciated! Enjoy 🥰
+
+<span>-</span> Jason, Founder of sunnypilot

SConstruct

@@ -1,518 +0,0 @@
-import os
-import shutil
-import subprocess
-import sys
-import sysconfig
-import platform
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-force_tici = os.environ.get("SP_FORCE_TICI", "").lower() in {"1", "true", "yes", "on"}
-TICI = os.path.isfile('/TICI') or force_tici
-AGNOS = TICI
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
-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)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-AddOption('--extras',
-          action='store_true',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath),
-          help='build optional tools/tests even when minimal is the default')
-
-def maybe_delegate_to_laptop_device_builder() -> None:
-  if platform.system() != "Darwin":
-    return
-  if os.environ.get("SP_FORCE_ARCH"):
-    return
-  if os.environ.get("SP_SKIP_CONTAINER_REEXEC"):
-    return
-  if os.environ.get("SP_DISABLE_AUTO_DEVICE_SCONS", "").lower() in {"1", "true", "yes", "on"}:
-    return
-
-  basedir = Dir("#").abspath
-  sysroot_dir = os.environ.get("COMMA_SYSROOT_DIR", os.path.join(basedir, ".comma_sysroot"))
-  required_sysroot_dirs = (
-    "usr/local/lib",
-    "lib/aarch64-linux-gnu",
-    "usr/lib/aarch64-linux-gnu",
-    "system/vendor/lib64",
-  )
-  if not all(os.path.isdir(os.path.join(sysroot_dir, p)) for p in required_sysroot_dirs):
-    return
-
-  docker_bin = shutil.which("docker")
-  if docker_bin is None:
-    mac_docker = "/Applications/Docker.app/Contents/Resources/bin/docker"
-    if os.path.isfile(mac_docker):
-      docker_bin = mac_docker
-
-  if docker_bin is None and shutil.which("podman") is None:
-    return
-
-  builder = os.path.join(basedir, "scripts", "laptop_device_build.sh")
-  if not os.path.isfile(builder):
-    return
-
-  print(f"Auto-routing scons to laptop device build (sysroot: {sysroot_dir})", flush=True)
-  env = os.environ.copy()
-  env["SP_SKIP_CONTAINER_REEXEC"] = "1"
-  env.setdefault("COMMA_SYSROOT_DIR", sysroot_dir)
-  if docker_bin is not None and shutil.which("docker") is None:
-    docker_dir = os.path.dirname(docker_bin)
-    env["PATH"] = f"{docker_dir}:{env.get('PATH', '')}"
-
-  cmd = [builder, "build", *sys.argv[1:]]
-  raise SystemExit(subprocess.call(cmd, cwd=basedir, env=env))
-
-maybe_delegate_to_laptop_device_builder()
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-forced_arch = os.environ.get("SP_FORCE_ARCH")
-if forced_arch:
-  arch = forced_arch
-elif platform.system() == "Darwin":
-  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
-  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
-
-# Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
-# Use the system toolchain explicitly on macOS for reliable local builds.
-cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
-cxx = '/usr/bin/clang++' if arch == "Darwin" else 'clang++'
-ar = '/usr/bin/ar' if arch == "Darwin" else 'ar'
-ranlib = '/usr/bin/ranlib' if arch == "Darwin" else 'ranlib'
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "PYTHONPATH": ":".join([
-    Dir("#").abspath,
-    Dir("#third_party/acados").abspath,
-    Dir("#opendbc_repo").abspath,
-  ]),
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-# Allow callers to override cache/temp dirs used by subprocesses (e.g. tinygrad model compilation).
-for key in ("HOME", "TMPDIR", "XDG_CACHE_HOME", "CACHEDB", "PARAMS_ROOT"):
-  if key in os.environ:
-    lenv[key] = os.environ[key]
-
-rpath = []
-arch_ldflags = []
-
-def tici_libpath(path: str) -> str:
-  tici_sysroot = os.environ.get("SP_TICI_SYSROOT", "").strip().rstrip("/")
-  if arch != "larch64" or not tici_sysroot or not path.startswith("/"):
-    return path
-  return os.path.join(tici_sysroot, path.lstrip("/"))
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-    tici_libpath("/usr/local/include"),
-    tici_libpath("/usr/include"),
-    tici_libpath("/usr/include/aarch64-linux-gnu"),
-  ]
-
-  libpath = [
-    tici_libpath("/usr/local/lib"),
-    tici_libpath("/system/vendor/lib64"),
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/libyuv/larch64/lib",
-    tici_libpath("/lib/aarch64-linux-gnu"),
-    tici_libpath("/usr/lib/aarch64-linux-gnu")
-  ]
-  cflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
-  arch_ldflags += [
-    f"-Wl,-rpath-link,{tici_libpath('/usr/local/lib')}",
-    f"-Wl,-rpath-link,{tici_libpath('/lib/aarch64-linux-gnu')}",
-    f"-Wl,-rpath-link,{tici_libpath('/usr/lib/aarch64-linux-gnu')}",
-    f"-Wl,-rpath-link,{tici_libpath('/system/vendor/lib64')}",
-    f"-Wl,-rpath-link,{tici_libpath('/vendor/lib64')}",
-  ]
-  # On non-aarch64 hosts (e.g. Docker on macOS), force clang cross-targeting.
-  if platform.machine() not in ("aarch64", "arm64"):
-    cross_target = os.environ.get("SP_CROSS_TARGET", "aarch64-linux-gnu")
-    cflags += [f"--target={cross_target}"]
-    cxxflags += [f"--target={cross_target}"]
-    arch_ldflags += [f"--target={cross_target}"]
-  rpath += ["/usr/local/lib"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-ldflags += arch_ldflags
-
-# AGNOS devices are memory-constrained during on-device C++ compiles.
-# Building without debug symbols dramatically reduces peak clang memory and
-# prevents lowmemorykiller SIGKILLs (Error -9) on large translation units.
-use_debug_symbols = os.environ.get("SP_FORCE_DEBUG_SYMBOLS", "").lower() in {"1", "true", "yes", "on"}
-debug_flag = "-g" if (not AGNOS or use_debug_symbols) else "-g0"
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    debug_flag,
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party",
-    "#msgq",
-  ],
-
-  CC=cc,
-  CXX=cxx,
-  AR=ar,
-  RANLIB=ranlib,
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#common",
-    "#rednose/helpers",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
-
-env.CompilationDatabase('compile_commands.json')
-
-# Setup cache dir
-cache_dir = os.environ.get("SP_SCONS_CACHE_DIR", "").strip()
-if not cache_dir:
-  cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# Cython build environment
-py_include = sysconfig.get_paths()['include']
-if arch == "larch64" and platform.machine() not in ("aarch64", "arm64"):
-  tici_py_include = tici_libpath(f"/usr/include/python{sys.version_info.major}.{sys.version_info.minor}")
-  if os.path.isdir(tici_py_include):
-    py_include = tici_py_include
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
-else:
-  envCython["LINKFLAGS"] = arch_ldflags + ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  if arch == "larch64":
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  # For laptop/device builds that mount an AGNOS sysroot, always prefer Qt
-  # headers from that sysroot to keep headers/libs ABI-matched (Qt 5.12.x).
-  if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-    qt_install_prefix = tici_libpath("/usr")
-    qt_install_headers = tici_libpath("/usr/include/aarch64-linux-gnu/qt5")
-  else:
-    qmake = os.environ.get("SP_QMAKE", "qmake")
-    qt_install_prefix = subprocess.check_output([qmake, '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-    qt_install_headers = subprocess.check_output([qmake, '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-  qt_tool_bin = tici_libpath("/usr/lib/qt5/bin")
-  qt_tool_root = tici_libpath("/")
-  qt_arm_moc = os.path.join(qt_tool_bin, "moc")
-  qt_arm_uic = os.path.join(qt_tool_bin, "uic")
-  qt_arm_rcc = os.path.join(qt_tool_bin, "rcc")
-  qt_host_bin = os.environ.get("SP_QT_HOST_BIN", "/usr/lib/qt5/bin")
-  qt_host_moc = os.environ.get("SP_QT_HOST_MOC", os.path.join(qt_host_bin, "moc"))
-  qt_host_uic = os.environ.get("SP_QT_HOST_UIC", os.path.join(qt_host_bin, "uic"))
-  qt_host_rcc = os.environ.get("SP_QT_HOST_RCC", "rcc")
-  if platform.machine() in ("aarch64", "arm64"):
-    if "SP_QT_HOST_MOC" in os.environ:
-      qt_env['QT3_MOC'] = qt_host_moc
-    elif os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = qt_arm_moc
-    if "SP_QT_HOST_UIC" in os.environ:
-      qt_env['QT3_UIC'] = qt_host_uic
-    elif os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = qt_arm_uic
-    if "SP_QT_HOST_RCC" in os.environ:
-      qt_env['SP_QT_RCC'] = qt_host_rcc
-    elif os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = qt_arm_rcc
-  else:
-    qt_qemu = shutil.which("qemu-aarch64-static") or shutil.which("qemu-aarch64")
-
-    if qt_qemu and os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_moc}"
-    else:
-      qt_env['QT3_MOC'] = qt_host_moc
-
-    if qt_qemu and os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_uic}"
-    else:
-      qt_env['QT3_UIC'] = qt_host_uic
-
-    if qt_qemu and os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_rcc}"
-    else:
-      qt_env['SP_QT_RCC'] = qt_host_rcc
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
-common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])

build

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "$@"

c3

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c3 "$@"

c4

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c4 "$@"

cereal/SConscript

@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')

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
@@ -12,94 +10,442 @@ using Car = import "car.capnp";
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct StarPilotCarControl @0x81c2f05a394cf4af {
-  hudControl @0 :HUDControl;
+struct ModularAssistiveDrivingSystem {
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
 
-  struct HUDControl {
-    audibleAlert @0 :AudibleAlert;
+  enum ModularAssistiveDrivingSystemState {
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
+}
 
-    enum AudibleAlert {
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
+}
+
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+
+  struct Artifact {
+    fileName @0 :Text;
+    downloadUri @1 :DownloadUri;
+    downloadProgress @2 :DownloadProgress;
+  }
+
+  struct Model {
+    type @0 :Type;
+    artifact @1 :Artifact;  # Main artifact
+    metadata @2 :Artifact;  # Metadata artifact
+
+    enum Type {
+      supercombo @0;
+      navigation @1;
+      vision @2;
+      policy @3;
+    }
+  }
+
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+    stock @2;
+  }
+
+  struct Override {
+    key @0 :Text;
+    value @1 :Text;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    runner @7 :Runner;
+    is20hz @8 :Bool;
+    ref @9 :Text;
+    minimumSelectorVersion @10 :UInt32;
+    overrides @11 :List(Override);
+  }
+}
+
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
+
+  struct SmartCruiseControl {
+    vision @0 :Vision;
+    map @1 :Map;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
+  }
+
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+    assist @1 :Assist;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
+    }
+
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
+    enum Source {
       none @0;
+      car @1;
+      map @2;
+    }
 
-      engage @1;
-      disengage @2;
-      refuse @3;
+    enum AssistState {
+      disabled @0;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
+  }
 
-      warningSoft @4;
-      warningImmediate @5;
+  enum LongitudinalPlanSource {
+    cruise @0;
+    sccVision @1;
+    sccMap @2;
+    speedLimitAssist @3;
+  }
 
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
+  struct E2eAlerts {
+    greenLightAlert @0 :Bool;
+    leadDepartAlert @1 :Bool;
+  }
+}
 
-      # 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 OnroadEventSP @0xda96579883444c35 {
+  events @0 :List(Event);
+
+  struct Event {
+    name @0 :EventName;
+
+    # event types
+    enable @1 :Bool;
+    noEntry @2 :Bool;
+    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+    userDisable @4 :Bool;
+    softDisable @5 :Bool;
+    immediateDisable @6 :Bool;
+    preEnable @7 :Bool;
+    permanent @8 :Bool; # alerts presented regardless of openpilot state
+    overrideLateral @10 :Bool;
+    overrideLongitudinal @9 :Bool;
+  }
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
+    e2eChime @23;
+  }
+}
+
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
     }
   }
 }
 
-struct StarPilotCarParams @0xaedffd8f31e7b55d {
-  alternativeExperience @0 :Int16;
-  canUsePedal @1 :Bool;
-  canUseSDSU @2 :Bool;
-  flags @3 :UInt32;
-  isHDA2 @4 :Bool;
-  openpilotLongitudinalControlDisabled @5 :Bool;
-  safetyConfigs @6 :List(SafetyConfig);
-  pcmCruiseSpeed @7 :Bool = true;
-  redneckCruiseAvailable @8 :Bool;
+struct CarControlSP @0xa5cd762cd951a455 {
+  mads @0 :ModularAssistiveDrivingSystem;
+  params @1 :List(Param);
+  leadOne @2 :LeadData;
+  leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
-  struct SafetyConfig {
-    safetyParam @0 :UInt16;
+  struct Param {
+    key @0 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
-struct StarPilotCarState @0xf35cc4560bbf6ec2 {
-  accelPressed @0 :Bool;
-  alwaysOnLateralEnabled @1 :Bool;
-  brakeLights @2 :Bool;
-  dashboardSpeedLimit @3 :Float32;
-  decelPressed @4 :Bool;
-  distancePressed @5 :Bool;
-  distanceLongPressed @6 :Bool;
-  distanceVeryLongPressed @7 :Bool;
-  ecoGear @8 :Bool;
-  forceCoast @9 :Bool;
-  isParked @10 :Bool;
-  pauseLateral @11 :Bool;
-  pauseLongitudinal @12 :Bool;
-  sportGear @13 :Bool;
-  trafficModeEnabled @14 :Bool;
-  gasStack @15 :Bool;  # Compatibility with older StarPilot payloads
-  modePressed @16 :Bool;
-  customPressed @17 :Bool;
-  alwaysOnLateralAllowed @18 :Bool;
-  dashboardStopSign @19 :UInt8;  # 0 = no signal / platform doesn't publish
-  cancelPressed @20 :Bool;
-  cancelLongPressed @21 :Bool;
-  cancelVeryLongPressed @22 :Bool;
+struct BackupManagerSP @0xf98d843bfd7004a3 {
+  backupStatus @0 :Status;
+  restoreStatus @1 :Status;
+  backupProgress @2 :Float32;
+  restoreProgress @3 :Float32;
+  lastError @4 :Text;
+  currentBackup @5 :BackupInfo;
+  backupHistory @6 :List(BackupInfo);
+
+  enum Status {
+    idle @0;
+    inProgress @1;
+    completed @2;
+    failed @3;
+  }
+
+  struct Version {
+    major @0 :UInt16;
+    minor @1 :UInt16;
+    patch @2 :UInt16;
+    build @3 :UInt16;
+    branch @4 :Text;
+  }
+
+  struct MetadataEntry {
+    key @0 :Text;
+    value @1 :Text;
+    tags @2 :List(Text);
+  }
+
+  struct BackupInfo {
+    deviceId @0 :Text;
+    version @1 :UInt32;
+    config @2 :Text;
+    isEncrypted @3 :Bool;
+    createdAt @4 :Text;  # ISO timestamp
+    updatedAt @5 :Text;  # ISO timestamp
+    sunnypilotVersion @6 :Version;
+    backupMetadata @7 :List(MetadataEntry);
+  }
 }
 
-struct StarPilotDeviceState @0xda96579883444c35 {
-  freeSpace @0 :Int16;
-  usedSpace @1 :Int16;
+struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;
 }
 
-struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
-  turnDirection @0 :TurnDirection;
+struct LiveMapDataSP @0xf416ec09499d9d19 {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
+}
+
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 
   enum TurnDirection {
     none @0;
@@ -108,157 +454,6 @@ struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
   }
 }
 
-struct StarPilotOnroadEvent @0xa5cd762cd951a455 {
-  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 @9 :Bool;
-  overrideLongitudinal @10 :Bool;
-
-  enum EventName {
-    blockUser @0;
-    customStartupAlert @1;
-    forcingStop @2;
-    goatSteerSaturated @3;
-    greenLight @4;
-    holidayActive @5;
-    laneChangeBlockedLoud @6;
-    leadDeparting @7;
-    noLaneAvailable @8;
-    nnffLoaded @9;
-    openpilotCrashed @10;
-    pedalInterceptorNoBrake @11;
-    speedLimitChanged @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;
-    switchbackModeActive @29;
-    switchbackModeInactive @30;
-    lkasEnable @31;
-    lkasDisable @32;
-  }
-}
-
-struct StarPilotPlan @0xf98d843bfd7004a3 {
-  accelerationJerk @0 :Float32;
-  cscControllingSpeed @1 :Bool;
-  cscSpeed @2 :Float32;
-  cscTraining @3 :Bool;
-  dangerFactor @4 :Float32;
-  dangerJerk @5 :Float32;
-  desiredFollowDistance @6 :Int64;
-  experimentalMode @7 :Bool;
-  forcingStop @8 :Bool;
-  forcingStopLength @9 :Float32;
-  starpilotEvents @10 :List(StarPilotOnroadEvent);
-  starpilotToggles @11 :Text;
-  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;
-  speedLimitChanged @28 :Bool;
-  tFollow @29 :Float32;
-  themeUpdated @30 :Bool;
-  unconfirmedSlcSpeedLimit @31 :Float32;
-  vCruise @32 :Float32;
-  weatherDaytime @33 :Bool;
-  weatherId @34 :Int16;
-  disableThrottle @35 :Bool;
-  trackingLead @36 :Bool;
-  stopSignConfirmed @37 :Bool;
-}
-
-struct StarPilotRadarState @0xb86e6369214c01c8 {
-  leadLeft @0 :LeadData;
-  leadRight @1 :LeadData;
-
-  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
-
-    aLeadDEPRECATED @5 :Float32;
-  }
-}
-
-struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
-  alertText1 @0 :Text;
-  alertText2 @1 :Text;
-  alertStatus @2 :AlertStatus;
-  alertSize @3 :AlertSize;
-  alertType @4 :Text;
-  alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
-
-  enum AlertStatus {
-    normal @0;
-    userPrompt @1;
-    critical @2;
-    starpilot @3;
-  }
-
-  enum AlertSize {
-    none @0;
-    small @1;
-    mid @2;
-    full @3;
-  }
-}
-
-struct CustomReserved9 @0xa1680744031fdb2d {
-  slotId @0 :Text;
-  slotName @1 :Text;
-  variant @2 :Text;
-  variantLabel @3 :Text;
-  reason @4 :Text;
-  wallTimeNanos @5 :UInt64;
-}
-
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
@@ -280,125 +475,11 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }
 
-struct MapdDownloadLocationDetails @0xff889853e7b0987f {
-  location @0 :Text;
-  totalFiles @1 :UInt32;
-  downloadedFiles @2 :UInt32;
+struct CustomReserved17 @0xa30662f84033036c {
 }
 
-struct MapdDownloadProgress @0xfaa35dcac85073a2 {
-  active @0 :Bool;
-  cancelled @1 :Bool;
-  totalFiles @2 :UInt32;
-  downloadedFiles @3 :UInt32;
-  locations @4 :List(Text);
-  locationDetails @5 :List(MapdDownloadLocationDetails);
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
 }
 
-struct MapdPathPoint @0xd6f78acca1bc3939 {
-  latitude @0 :Float64;
-  longitude @1 :Float64;
-  curvature @2 :Float32;
-  targetVelocity @3 :Float32;
-}
-
-struct MapdExtendedOut @0xa30662f84033036c {
-  downloadProgress @0 :MapdDownloadProgress;
-  settings @1 :Text;
-  path @2 :List(MapdPathPoint);
-}
-
-enum MapdInputType {
-  download @0;
-  setTargetLateralAccel @1;
-  setSpeedLimitOffset @2;
-  setSpeedLimitControl @3;
-  setMapCurveSpeedControl @4;
-  setVisionCurveSpeedControl @5;
-  setLogLevel @6;
-  setVisionCurveTargetLatA @7;
-  setVisionCurveMinTargetV @8;
-  reloadSettings @9;
-  saveSettings @10;
-  setEnableSpeed @11;
-  setVisionCurveUseEnableSpeed @12;
-  setMapCurveUseEnableSpeed @13;
-  setSpeedLimitUseEnableSpeed @14;
-  setHoldLastSeenSpeedLimit @15;
-  setTargetSpeedJerk @16;
-  setTargetSpeedAccel @17;
-  setTargetSpeedTimeOffset @18;
-  setDefaultLaneWidth @19;
-  setMapCurveTargetLatA @20;
-  loadDefaultSettings @21;
-  loadRecommendedSettings @22;
-  setSlowDownForNextSpeedLimit @23;
-  setSpeedUpForNextSpeedLimit @24;
-  setHoldSpeedLimitWhileChangingSetSpeed @25;
-  loadPersistentSettings @26;
-  cancelDownload @27;
-  setLogJson @28;
-  setLogSource @29;
-  setExternalSpeedLimitControl @30;
-  setExternalSpeedLimit @31;
-  setSpeedLimitPriority @32;
-  setSpeedLimitChangeRequiresAccept @33;
-  acceptSpeedLimit @34;
-  setPressGasToAcceptSpeedLimit @35;
-  setAdjustSetSpeedToAcceptSpeedLimit @36;
-  setAcceptSpeedLimitTimeout @37;
-  setPressGasToOverrideSpeedLimit @38;
-}
-
-enum WaySelectionType {
-  current @0;
-  predicted @1;
-  possible @2;
-  extended @3;
-  fail @4;
-}
-
-enum SpeedLimitOffsetType {
-  static @0;
-  percent @1;
-}
-
-struct MapdIn @0xc86a3d38d13eb3ef {
-  type @0 :MapdInputType;
-  float @1 :Float32;
-  str @2 :Text;
-  bool @3 :Bool;
-}
-
-enum RoadContext {
-  freeway @0;
-  city @1;
-  unknown @2;
-}
-
-struct MapdOut @0xa4f1eb3323f5f582 {
-  wayName @0 :Text;
-  wayRef @1 :Text;
-  roadName @2 :Text;
-  speedLimit @3 :Float32;
-  nextSpeedLimit @4 :Float32;
-  nextSpeedLimitDistance @5 :Float32;
-  hazard @6 :Text;
-  nextHazard @7 :Text;
-  nextHazardDistance @8 :Float32;
-  advisorySpeed @9 :Float32;
-  nextAdvisorySpeed @10 :Float32;
-  nextAdvisorySpeedDistance @11 :Float32;
-  oneWay @12 :Bool;
-  lanes @13 :UInt8;
-  tileLoaded @14 :Bool;
-  speedLimitSuggestedSpeed @15 :Float32;
-  suggestedSpeed @16 :Float32;
-  estimatedRoadWidth @17 :Float32;
-  roadContext @18 :RoadContext;
-  distanceFromWayCenter @19 :Float32;
-  visionCurveSpeed @20 :Float32;
-  mapCurveSpeed @21 :Float32;
-  waySelectionType @22 :WaySelectionType;
-  speedLimitAccepted @23 :Bool;
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
 }

cereal/log.capnp

@@ -130,14 +130,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     userBookmark @95;
     excessiveActuation @96;
     audioFeedback @97;
-    lateralManeuver @98;
-    pedalCruiseEnabled @99;
-    pedalCruiseDisabled @100;
-    pedalMaxRegen @101;
-    teslaCCEngaged @102;
-    teslaCCDisengaged @103;
-    teslaCCNotArmed @104;
-    pedalNotCalibrated @105;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -1095,7 +1087,7 @@ struct ModelDataV2 {
   confidence @23: ConfidenceClass;
 
   # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;
 
   # e2e lateral planner
   action @26: Action;
@@ -1246,10 +1238,6 @@ struct DriverAssistance {
   # FCW, AEB, etc. will go here
 }
 
-struct LateralManeuverPlan {
-  desiredCurvature @0 :Float32;  # 1/m
-}
-
 struct LongitudinalPlan @0xe00b5b3eba12876c {
   modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
@@ -2613,7 +2601,6 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
-    lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
@@ -2638,16 +2625,16 @@ struct Event {
     # DO change the name of the field and struct
     # DON'T change the ID (e.g. @107)
     # DON'T change which struct it points to
-    starpilotCarControl @107 :Custom.StarPilotCarControl;
-    starpilotCarParams @108 :Custom.StarPilotCarParams;
-    starpilotCarState @109 :Custom.StarPilotCarState;
-    starpilotDeviceState @110 :Custom.StarPilotDeviceState;
-    starpilotModelV2 @111 :Custom.StarPilotModelDataV2;
-    starpilotOnroadEvents @112 :List(Custom.StarPilotOnroadEvent);
-    starpilotPlan @113 :Custom.StarPilotPlan;
-    starpilotRadarState @114 :Custom.StarPilotRadarState;
-    starpilotSelfdriveState @115 :Custom.StarPilotSelfdriveState;
-    customReserved9 @116 :Custom.CustomReserved9;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
+    modelManagerSP @108 :Custom.ModelManagerSP;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    onroadEventsSP @110 :Custom.OnroadEventSP;
+    carParamsSP @111 :Custom.CarParamsSP;
+    carControlSP @112 :Custom.CarControlSP;
+    backupManagerSP @113 :Custom.BackupManagerSP;
+    carStateSP @114 :Custom.CarStateSP;
+    liveMapDataSP @115 :Custom.LiveMapDataSP;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
@@ -2655,9 +2642,9 @@ struct Event {
     customReserved14 @140 :Custom.CustomReserved14;
     customReserved15 @141 :Custom.CustomReserved15;
     customReserved16 @142 :Custom.CustomReserved16;
-    mapdExtendedOut @143 :Custom.MapdExtendedOut;
-    mapdIn @144 :Custom.MapdIn;
-    mapdOut @145 :Custom.MapdOut;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2700,7 +2687,7 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
     gyroscope2DEPRECATED @100 :SensorEventData;

cereal/messaging/__init__.py

@@ -197,10 +197,6 @@ class SubMaster:
       self.data[s] = getattr(data.as_reader(), s)
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
-    # StarPilot variables
-    self.addr = addr
-    self.poll = poll
-
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
@@ -252,18 +248,6 @@ class SubMaster:
   def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
-  # StarPilot variables
-  def extend(self, new_services: List[str]):
-    return SubMaster(
-      self.services + new_services,
-      poll=self.poll,
-      ignore_alive=self.ignore_alive,
-      ignore_avg_freq=self.ignore_average_freq,
-      ignore_valid=self.ignore_valid,
-      addr=self.addr,
-      frequency=None if self.poll is not None else self.update_freq,
-    )
-
 
 class PubMaster:
   def __init__(self, services: List[str]):
@@ -285,10 +269,3 @@ class PubMaster:
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
-
-  # StarPilot variables
-  def extend(self, new_services: List[str]):
-    for service in new_services:
-      if service not in self.sock:
-        self.sock[service] = pub_sock(service)
-    return self

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -0,0 +1,222 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+from typing import Any, List, Tuple
+
+DEBUG = False
+
+
+def print_debug(string: str) -> None:
+  if DEBUG:
+    print(string)
+
+
+def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
+  """
+  Create a new instance of a schema type, handling different field types.
+
+  Args:
+      struct: The Cap'n Proto schema structure
+      prop: A tuple containing the field name and field metadata
+
+  Returns:
+      A new initialized schema instance
+  """
+  struct_instance = struct.new_message()
+  field_name, field_metadata = prop
+
+  try:
+    field_type = field_metadata.proto.slot.type.which()
+
+    # Initialize different types of fields
+    if field_type in ('list', 'text', 'data'):
+      struct_instance.init(field_name, 1)
+      print_debug(f"Initialized list/text/data field: {field_name}")
+    elif field_type in ('struct', 'object'):
+      struct_instance.init(field_name)
+      print_debug(f"Initialized struct/object field: {field_name}")
+
+    return struct_instance
+
+  except Exception as e:
+    print(f"Error creating instance for {field_name}: {e}")
+    return None
+
+
+def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
+  """
+  Retrieve all fields from a given schema structure.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of field names and their metadata
+  """
+  try:
+    # Get all fields from the schema
+    schema_fields = list(schema_struct.schema.fields.items())
+
+    print_debug("Discovered schema fields:")
+    for field_name, field_metadata in schema_fields:
+      print_debug(f"- {field_name}")
+
+    return schema_fields
+
+  except Exception as e:
+    print(f"Error retrieving schema fields: {e}")
+    return []
+
+
+def generate_schema_instances(schema_struct: Any) -> List[Any]:
+  """
+  Generate instances for all fields in a given schema.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of schema instances
+  """
+  schema_fields = get_schema_fields(schema_struct)
+  instances = []
+
+  for field_prop in schema_fields:
+    try:
+      instance = create_schema_instance(schema_struct, field_prop)
+      if instance is not None:
+        instances.append(instance)
+    except Exception as e:
+      print(f"Skipping field due to error: {e}")
+
+  print(f"Generated {len(instances)} schema instances")
+  return instances
+
+
+def persist_instances(instances: List[Any], filename: str) -> None:
+  """
+  Write schema instances to a binary file.
+
+  Args:
+      instances: List of schema instances
+      filename: Output file path
+  """
+  try:
+    with open(filename, 'wb') as f:
+      for instance in instances:
+        f.write(instance.to_bytes())
+
+    print(f"Successfully wrote {len(instances)} instances to {filename}")
+
+  except Exception as e:
+    print(f"Error persisting instances: {e}")
+    sys.exit(1)
+
+
+def read_instances(filename: str, schema_type: Any) -> List[Any]:
+  """
+  Read schema instances from a binary file.
+
+  Args:
+      filename: Input file path
+      schema_type: The schema type to use for reading
+
+  Returns:
+      A list of read schema instances
+  """
+  try:
+    with open(filename, 'rb') as f:
+      data = f.read()
+
+    instances = list(schema_type.read_multiple_bytes(data))
+
+    print(f"Read {len(instances)} instances from {filename}")
+    return instances
+
+  except Exception as e:
+    print(f"Error reading instances: {e}")
+    sys.exit(1)
+
+
+def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
+  """
+  Compare original and read-back instances to detect potential breaking changes.
+
+  Args:
+      original_instances: List of originally generated instances
+      read_instances: List of instances read back from file
+
+  Returns:
+      Boolean indicating whether schemas appear compatible
+  """
+  if len(original_instances) != len(read_instances):
+    print("❌ Schema Compatibility Warning: Instance count mismatch")
+    return False
+
+  compatible = True
+  for struct in read_instances:
+    try:
+      getattr(struct, struct.which())  # Attempting to access the field to validate readability
+    except Exception as e:
+      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
+      compatible = False
+
+  return compatible
+
+
+def main():
+  """
+  CLI entry point for schema compatibility testing.
+  """
+  # Setup argument parser
+  parser = argparse.ArgumentParser(
+    description='Cap\'n Proto Schema Compatibility Testing Tool',
+    epilog='Test schema compatibility by generating and reading back instances.'
+  )
+
+  # Add mutually exclusive group for generation or reading mode
+  mode_group = parser.add_mutually_exclusive_group(required=True)
+  mode_group.add_argument('-g', '--generate', action='store_true',
+                          help='Generate schema instances')
+  mode_group.add_argument('-r', '--read', action='store_true',
+                          help='Read and validate schema instances')
+
+  # Common arguments
+  parser.add_argument('-f', '--file',
+                      default='schema_instances.bin',
+                      help='Output/input binary file (default: schema_instances.bin)')
+
+  # Parse arguments
+  args = parser.parse_args()
+
+  # Import the schema dynamically 
+  try:
+    from cereal import log
+    schema_type = log.Event
+  except ImportError:
+    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
+    sys.exit(1)
+
+  # Execute based on mode
+  if args.generate:
+    print("🔧 Generating Schema Instances")
+    instances = generate_schema_instances(schema_type)
+    persist_instances(instances, args.file)
+    print("✅ Instance generation complete")
+
+  elif args.read:
+    print("🔍 Reading and Validating Schema Instances")
+    generated_instances = generate_schema_instances(schema_type)
+    read_back_instances = read_instances(args.file, schema_type)
+
+    # Compare schemas
+    if compare_schemas(generated_instances, read_back_instances):
+      print("✅ Schema Compatibility: No breaking changes detected")
+      sys.exit(0)
+    else:
+      print("❌ Potential Schema Breaking Changes Detected")
+      sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

cereal/services.h

@@ -32,7 +32,6 @@ static std::map<std::string, service> services = {
   { "carControl", {"carControl", true, 100.000000, 10, 256000}},
   { "carOutput", {"carOutput", true, 100.000000, 10, 256000}},
   { "longitudinalPlan", {"longitudinalPlan", true, 20.000000, 10, 256000}},
-  { "lateralManeuverPlan", {"lateralManeuverPlan", true, 20.000000, -1, 256000}},
   { "driverAssistance", {"driverAssistance", true, 20.000000, 20, 256000}},
   { "procLog", {"procLog", true, 0.500000, 15, 10485760}},
   { "gpsLocationExternal", {"gpsLocationExternal", true, 10.000000, 10, 256000}},
@@ -72,6 +71,17 @@ static std::map<std::string, service> services = {
   { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
   { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
   { "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
+  { "modelManagerSP", {"modelManagerSP", false, 1.000000, 1, 10485760}},
+  { "backupManagerSP", {"backupManagerSP", false, 1.000000, 1, 10485760}},
+  { "selfdriveStateSP", {"selfdriveStateSP", true, 100.000000, 10, 256000}},
+  { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20.000000, 10, 256000}},
+  { "onroadEventsSP", {"onroadEventsSP", true, 1.000000, 1, 256000}},
+  { "carParamsSP", {"carParamsSP", true, 0.020000, 1, 256000}},
+  { "carControlSP", {"carControlSP", true, 100.000000, 10, 256000}},
+  { "carStateSP", {"carStateSP", true, 100.000000, 10, 256000}},
+  { "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1, 256000}},
+  { "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1, 10485760}},
+  { "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1, 256000}},
   { "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
   { "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
   { "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
@@ -81,22 +91,9 @@ static std::map<std::string, service> services = {
   { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
-  { "customReserved9", {"customReserved9", true, 0.000000, 1, 256000}},
   { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
   { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
   { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},
-  { "starpilotCarControl", {"starpilotCarControl", true, 100.000000, 10, 256000}},
-  { "starpilotCarParams", {"starpilotCarParams", true, 0.020000, 1, 256000}},
-  { "starpilotCarState", {"starpilotCarState", true, 100.000000, 10, 256000}},
-  { "starpilotDeviceState", {"starpilotDeviceState", true, 2.000000, 1, 256000}},
-  { "starpilotModelV2", {"starpilotModelV2", true, 20.000000, -1, 256000}},
-  { "starpilotOnroadEvents", {"starpilotOnroadEvents", true, 1.000000, 1, 256000}},
-  { "starpilotPlan", {"starpilotPlan", true, 20.000000, 10, 256000}},
-  { "starpilotRadarState", {"starpilotRadarState", true, 20.000000, 5, 256000}},
-  { "starpilotSelfdriveState", {"starpilotSelfdriveState", true, 100.000000, 10, 256000}},
-  { "mapdExtendedOut", {"mapdExtendedOut", true, 1.000000, 1, 2097152}},
-  { "mapdIn", {"mapdIn", true, 1.000000, 1, 2097152}},
-  { "mapdOut", {"mapdOut", true, 20.000000, 20, 2097152}},
 };
 #endif
 

cereal/services.py

@@ -49,7 +49,6 @@ _services: dict[str, tuple] = {
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
-  "lateralManeuverPlan": (True, 20.),
   "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
@@ -90,6 +89,19 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
   "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
+  # sunnypilot
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
+  "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
+  "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "liveLocationKalman": (True, 20.),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -100,24 +112,9 @@ _services: dict[str, tuple] = {
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "customReserved9": (True, 0., 1),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
-
-  # StarPilot variables
-  "starpilotCarControl": (True, 100., 10),
-  "starpilotCarParams": (True, 0.02, 1),
-  "starpilotCarState": (True, 100., 10),
-  "starpilotDeviceState": (True, 2., 1),
-  "starpilotModelV2": (True, 20.),
-  "starpilotOnroadEvents": (True, 1., 1),
-  "starpilotPlan": (True, 20., 10),
-  "starpilotRadarState": (True, 20., 5),
-  "starpilotSelfdriveState": (True, 100., 10),
-  "mapdExtendedOut": (True, 1., 1, QueueSize.MEDIUM),
-  "mapdIn": (True, 1., 1, QueueSize.MEDIUM),
-  "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

common/.gitignore

@@ -1,2 +1 @@
 *.cpp
-!params_pyx.cpp

common/SConscript

@@ -1,35 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
-
-Export('common_python')

common/api.py

@@ -1,64 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-from openpilot.starpilot.common.starpilot_utilities import use_konik_server
-
-API_HOST = os.getenv('API_HOST', f"https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}")
-
-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    self.jwt_algorithm, self.private_key, _ = get_key_pair()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  # TODO: add session to Api
-  req = requests if session is None else session
-  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  for key in KEYS:
-    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-        return KEYS[key], private.read(), public.read()
-  return None, None, None

common/api/__init__.py

@@ -0,0 +1,26 @@
+from openpilot.common.api.comma_connect import CommaConnectApi
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
+
+  def get(self, *args, **kwargs):
+    return self.service.get(*args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.service.post(*args, **kwargs)
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self.service.get_token(payload_extra, expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -0,0 +1,70 @@
+import jwt
+import os
+import requests
+import unicodedata
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self._get_token(payload_extra, expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+
+  @staticmethod
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+    for key in KEYS:
+      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+          return KEYS[key], private.read(), public.read()
+    return None, None, None

common/api/comma_connect.py

@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"

common/clutil.cc

@@ -53,37 +53,6 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
   LOGE("build failed; status=%d, log: %s", status, log.c_str());
 }
 
-std::string resolve_program_path(const char *path) {
-  std::string resolved_path(path);
-  if (util::file_exists(resolved_path)) {
-    return resolved_path;
-  }
-
-  const std::string basedir = util::getenv("BASEDIR", "");
-  if (!basedir.empty()) {
-    // Handle repository-relative paths, e.g. "selfdrive/modeld/transforms/transform.cl".
-    if (!resolved_path.empty() && resolved_path.front() != '/') {
-      const std::string candidate = basedir + "/" + resolved_path;
-      if (util::file_exists(candidate)) {
-        return candidate;
-      }
-    }
-
-    // Recover from build-path-embedded absolute paths like "/work/selfdrive/...".
-    for (const char *marker : {"/selfdrive/", "/starpilot/", "/common/"}) {
-      if (const size_t idx = resolved_path.find(marker); idx != std::string::npos) {
-        const std::string candidate = basedir + "/" + resolved_path.substr(idx + 1);
-        if (util::file_exists(candidate)) {
-          LOGW("OpenCL source path remapped: %s -> %s", resolved_path.c_str(), candidate.c_str());
-          return candidate;
-        }
-      }
-    }
-  }
-
-  return resolved_path;
-}
-
 }  // namespace
 
 cl_device_id cl_get_device_id(cl_device_type device_type) {
@@ -115,7 +84,7 @@ void cl_release_context(cl_context context) {
 }
 
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(resolve_program_path(path)), args);
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
 
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {

common/constants.py

@@ -19,11 +19,5 @@ class CV:
   # Mass
   LB_TO_KG = 0.453592
 
-  # StarPilot variables
-  METER_TO_FOOT = 3.28084
-  FOOT_TO_METER = 1. / METER_TO_FOOT
-  CM_TO_INCH = 1. / 2.54
-  INCH_TO_CM = 1. / CM_TO_INCH
-
 
 ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/file_chunker.py

@@ -1,41 +0,0 @@
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx + 1:02d}of{num_chunks:02d}"
-
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Dark Souls 2 (Default)"

common/params.cc

@@ -91,34 +91,24 @@ private:
 } // namespace
 
 
-Params::Params(const std::string &path, bool memory) {
+Params::Params(const std::string &path) {
   params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-
-  // StarPilot variables
-  std::string params_folder;
-  if (memory) {
-    params_folder = Path::shm_path() + "/params";
-  } else {
-    cache_path = "/cache/params" + params_prefix + "/";
-    params_folder = path;
-  }
-  params_path = ensure_params_path(params_prefix, params_folder);
+  params_path = ensure_params_path(params_prefix, path);
 }
 
 Params::~Params() {
   if (future.valid()) {
     future.wait();
   }
-  std::scoped_lock lk(pending_writes_lock);
   assert(queue.empty());
-  assert(pending_writes.empty());
-  assert(!writer_running);
 }
 
-std::vector<std::string> Params::allKeys() const {
+std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    ret.push_back(p.first);
+    if (flag == ALL || (p.second.flags & flag)) {
+      ret.push_back(p.first);
+    }
   }
   return ret;
 }
@@ -181,12 +171,6 @@ int Params::put(const char* key, const char* value, size_t value_size) {
 int Params::remove(const std::string &key) {
   FileLock file_lock(params_path + "/.lock");
   int result = unlink(getParamPath(key).c_str());
-
-  // StarPilot variables
-  if (!cache_path.empty()) {
-    unlink((cache_path + key).c_str());
-  }
-
   if (result != 0) {
     return result;
   }
@@ -233,11 +217,6 @@ void Params::clearAll(ParamKeyFlag key_flag) {
         auto it = keys.find(de->d_name);
         if (it == keys.end() || (it->second.flags & key_flag)) {
           unlink(getParamPath(de->d_name).c_str());
-
-          // StarPilot variables
-          if (!cache_path.empty()) {
-            unlink((cache_path + de->d_name).c_str());
-          }
         }
       }
     }
@@ -248,71 +227,18 @@ void Params::clearAll(ParamKeyFlag key_flag) {
 }
 
 void Params::putNonBlocking(const std::string &key, const std::string &val) {
-  bool should_enqueue = false;
-  bool should_start_thread = false;
-
-  {
-    std::scoped_lock lk(pending_writes_lock);
-    auto it = pending_writes.find(key);
-    if (it == pending_writes.end()) {
-      pending_writes.emplace(key, val);
-      should_enqueue = true;
-    } else {
-      it->second = val;
-    }
-
-    if (!writer_running) {
-      writer_running = true;
-      should_start_thread = true;
-    }
-  }
-
-  if (should_enqueue) {
-    queue.push(key);
-  }
-
-  if (should_start_thread) {
+   queue.push(std::make_pair(key, val));
+  // start thread on demand
+  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
     future = std::async(std::launch::async, &Params::asyncWriteThread, this);
   }
 }
 
 void Params::asyncWriteThread() {
-  std::string key;
-  while (true) {
-    if (!queue.try_pop(key, 0)) {
-      std::scoped_lock lk(pending_writes_lock);
-      if (queue.empty() && pending_writes.empty()) {
-        writer_running = false;
-        return;
-      }
-      continue;
-    }
-
-    std::string val;
-    {
-      std::scoped_lock lk(pending_writes_lock);
-      auto it = pending_writes.find(key);
-      if (it == pending_writes.end()) {
-        continue;
-      }
-      val = std::move(it->second);
-      pending_writes.erase(it);
-    }
-
+  // TODO: write the latest one if a key has multiple values in the queue.
+  std::pair<std::string, std::string> p;
+  while (queue.try_pop(p, 0)) {
     // Params::put is Thread-Safe
-    put(key, val);
+    put(p.first, p.second);
   }
 }
-
-// StarPilot variables
-int Params::getTuningLevel(const std::string &key) {
-  return keys[key].tuning_level;
-}
-
-std::optional<std::string> Params::getStockValue(const std::string &key) {
-  ParamKeyAttributes &attributes = keys[key];
-  if (attributes.stock_value) {
-    return attributes.stock_value;
-  }
-  return attributes.default_value;
-}

common/params.h

@@ -2,11 +2,9 @@
 
 #include <future>
 #include <map>
-#include <mutex>
 #include <optional>
 #include <string>
 #include <tuple>
-#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -20,6 +18,7 @@ enum ParamKeyFlag {
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
   CLEAR_ON_IGNITION_ON = 0x80,
+  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
@@ -37,22 +36,17 @@ struct ParamKeyAttributes {
   uint32_t flags;
   ParamKeyType type;
   std::optional<std::string> default_value = std::nullopt;
-
-  // StarPilot variables
-  std::optional<std::string> stock_value = std::nullopt;
-
-  int tuning_level = 0;
 };
 
 class Params {
 public:
-  explicit Params(const std::string &path = {}, bool memory = false);
+  explicit Params(const std::string &path = {});
   ~Params();
   // Not copyable.
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys() const;
+  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
   bool checkKey(const std::string &key);
   ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
@@ -85,35 +79,6 @@ public:
     putNonBlocking(key, val ? "1" : "0");
   }
 
-  // StarPilot variables
-  int getInt(const std::string &key, bool block = false) {
-    std::string value = get(key, block);
-    return value.empty() ? 0 : std::stoi(value);
-  }
-  float getFloat(const std::string &key, bool block = false) {
-    std::string value = get(key, block);
-    return value.empty() ? 0.0f : std::stof(value);
-  }
-
-  int putInt(const std::string &key, int val) {
-    std::string str = std::to_string(val);
-    return put(key.c_str(), str.c_str(), str.size());
-  }
-  int putFloat(const std::string &key, float val) {
-    std::string str = std::to_string(val);
-    return put(key.c_str(), str.c_str(), str.size());
-  }
-  void putIntNonBlocking(const std::string &key, int val) {
-    putNonBlocking(key, std::to_string(val));
-  }
-  void putFloatNonBlocking(const std::string &key, float val) {
-    putNonBlocking(key, std::to_string(val));
-  }
-
-  int getTuningLevel(const std::string &key);
-
-  std::optional<std::string> getStockValue(const std::string &key);
-
 private:
   void asyncWriteThread();
 
@@ -122,11 +87,5 @@ private:
 
   // for nonblocking write
   std::future<void> future;
-  SafeQueue<std::string> queue;
-  std::mutex pending_writes_lock;
-  std::unordered_map<std::string, std::string> pending_writes;
-  bool writer_running = false;
-
-  // StarPilot variables
-  std::string cache_path;
+  SafeQueue<std::pair<std::string, std::string>> queue;
 };

common/params.py

@@ -1,255 +1,8 @@
-from __future__ import annotations
-
-from enum import IntEnum, IntFlag
-from pathlib import Path
-import tempfile
-
-try:
-  from openpilot.common.params_pyx import Params as _Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-except Exception:
-  class UnknownKeyName(KeyError):
-    pass
-
-  class ParamKeyFlag(IntFlag):
-    PERSISTENT = 0x02
-    CLEAR_ON_MANAGER_START = 0x04
-    CLEAR_ON_ONROAD_TRANSITION = 0x08
-    CLEAR_ON_OFFROAD_TRANSITION = 0x10
-    DONT_LOG = 0x20
-    DEVELOPMENT_ONLY = 0x40
-    CLEAR_ON_IGNITION_ON = 0x80
-    ALL = 0xFFFFFFFF
-
-  class ParamKeyType(IntEnum):
-    STRING = 0
-    BOOL = 1
-    INT = 2
-    FLOAT = 3
-    TIME = 4
-    JSON = 5
-    BYTES = 6
-
-  def _load_key_types() -> dict[str, ParamKeyType]:
-    key_types: dict[str, ParamKeyType] = {}
-    params_keys = Path(__file__).with_name("params_keys.h")
-    if not params_keys.exists():
-      return key_types
-
-    for line in params_keys.read_text(encoding="utf-8", errors="ignore").splitlines():
-      if not line.lstrip().startswith('{"'):
-        continue
-
-      parts = line.split('"')
-      if len(parts) < 2:
-        continue
-
-      key = parts[1]
-      for type_name in ParamKeyType.__members__:
-        if f", {type_name}" in line:
-          key_types[key] = ParamKeyType[type_name]
-          break
-      else:
-        key_types[key] = ParamKeyType.STRING
-
-    return key_types
-
-  _KEY_TYPES = _load_key_types()
-  _PERSISTENT_STORE: dict[str, object] = {}
-  _MEMORY_STORE: dict[str, object] = {}
-
-  class Params:
-    def __init__(self, d: str | None = None, memory: bool = False, return_defaults: bool = False):
-      self.d = d if d is not None else ""
-      self.m = memory
-      self.return_defaults = return_defaults
-      self._store = _MEMORY_STORE if memory else _PERSISTENT_STORE
-
-    def __reduce__(self):
-      return type(self), (self.d, self.m, self.return_defaults)
-
-    def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-      self._store.clear()
-
-    def check_key(self, key):
-      if isinstance(key, bytes):
-        key = key.decode("utf-8")
-      return str(key)
-
-    def _coerce_bool(self, value) -> bool:
-      if isinstance(value, bool):
-        return value
-      if isinstance(value, (int, float)):
-        return bool(value)
-      if isinstance(value, bytes):
-        return value == b"1"
-      if isinstance(value, str):
-        return value.strip().lower() not in ("", "0", "false", "none", "null")
-      return bool(value)
-
-    def _coerce_value(self, key: str, value):
-      value_type = self.get_type(key)
-      if value_type == ParamKeyType.BOOL:
-        return self._coerce_bool(value)
-      if value_type == ParamKeyType.INT:
-        return int(float(value))
-      if value_type == ParamKeyType.FLOAT:
-        return float(value)
-      if value_type == ParamKeyType.BYTES and isinstance(value, str):
-        return value.encode("utf-8")
-      return value
-
-    def get(self, key, block: bool = False, return_default: bool = False, encoding=None, default=None):
-      key = self.check_key(key)
-      value = self._store.get(key, default)
-      if value is None:
-        return default
-      if encoding is not None and isinstance(value, bytes):
-        try:
-          return value.decode(encoding)
-        except Exception:
-          return value.decode("utf-8", errors="replace")
-      return value
-
-    def get_bool(self, key, block: bool = False, default: bool = False):
-      value = self.get(key, block=block, return_default=True, default=default)
-      return self._coerce_bool(value)
-
-    def get_int(self, key, block: bool = False, return_default: bool = False, default: int = 0):
-      value = self.get(key, block=block, return_default=return_default, encoding="utf-8", default=default)
-      if value is None or value == "":
-        return default
-      try:
-        return int(float(value))
-      except (TypeError, ValueError):
-        return default
-
-    def get_float(self, key, block: bool = False, return_default: bool = False, default: float = 0.0):
-      value = self.get(key, block=block, return_default=return_default, encoding="utf-8", default=default)
-      if value is None or value == "":
-        return default
-      try:
-        return float(value)
-      except (TypeError, ValueError):
-        return default
-
-    def put(self, key, dat):
-      key = self.check_key(key)
-      self._store[key] = self._coerce_value(key, dat)
-
-    def put_bool(self, key, val: bool):
-      self.put(key, bool(val))
-
-    def put_nonblocking(self, key, dat):
-      self.put(key, dat)
-
-    def put_bool_nonblocking(self, key, val: bool):
-      self.put_bool(key, val)
-
-    def put_int(self, key, val):
-      self.put(key, int(val))
-
-    def put_float(self, key, val):
-      self.put(key, float(val))
-
-    def remove(self, key):
-      self._store.pop(self.check_key(key), None)
-
-    def get_param_path(self, key: str = ""):
-      base = Path(tempfile.gettempdir()) / ("params_memory" if self.m else "params")
-      base.mkdir(parents=True, exist_ok=True)
-      return str(base / key) if key else str(base)
-
-    def get_type(self, key):
-      return _KEY_TYPES.get(self.check_key(key), ParamKeyType.STRING)
-
-    def all_keys(self):
-      return list(_KEY_TYPES)
-
-    def get_default_value(self, key):
-      return None
-
-    def cpp2python(self, key, value):
-      return self._coerce_value(self.check_key(key), value)
-
-    def get_key_flag(self, key):
-      return ParamKeyFlag.PERSISTENT
-
-    def get_stock_value(self, key):
-      return None
-
-    def get_tuning_level(self, key):
-      return 0
-
-else:
-  assert _Params
-  assert ParamKeyFlag
-  assert ParamKeyType
-  assert UnknownKeyName
-
-  class Params(_Params):
-    def get(self, key, block=False, return_default=False, encoding=None, default=None):
-      try:
-        value = super().get(key, block=block, return_default=return_default)
-      except UnknownKeyName:
-        return default
-      if value is None:
-        return default
-      if encoding is not None and isinstance(value, bytes):
-        try:
-          return value.decode(encoding)
-        except Exception:
-          return value.decode("utf-8", errors="replace")
-      return value
-
-    def get_bool(self, key, block=False, default=False):
-      try:
-        result = super().get(key, block=block, return_default=True)
-        if result is None:
-          return bool(default)
-        return bool(result)
-      except UnknownKeyName:
-        return bool(default)
-
-    def get_int(self, key, block=False, return_default=False, default=0):
-      val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
-      if val is None or val == "":
-        return default
-      try:
-        return int(float(val))
-      except ValueError:
-        return default
-
-    def get_float(self, key, block=False, return_default=False, default=0.0):
-      val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
-      if val is None or val == "":
-        return default
-      try:
-        return float(val)
-      except ValueError:
-        return default
-
-    def put_int(self, key, val):
-      t = self.get_type(key)
-      if t == ParamKeyType.FLOAT:
-        self.put(key, float(val))
-      elif t == ParamKeyType.INT:
-        self.put(key, int(val))
-      elif t == ParamKeyType.BOOL:
-        self.put(key, bool(val))
-      else:
-        self.put(key, str(int(val)))
-
-    def put_float(self, key, val):
-      t = self.get_type(key)
-      if t == ParamKeyType.FLOAT:
-        self.put(key, float(val))
-      elif t == ParamKeyType.INT:
-        self.put(key, int(val))
-      elif t == ParamKeyType.BOOL:
-        self.put(key, bool(val))
-      else:
-        self.put(key, str(float(val)))
-
+from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+assert Params
+assert ParamKeyFlag
+assert ParamKeyType
+assert UnknownKeyName
 
 if __name__ == "__main__":
   import sys

common/params_keys.h

@@ -7,9 +7,8 @@
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
-    {"AdbEnabled", {PERSISTENT, BOOL}},
-    {"AlwaysAllowUploads", {PERSISTENT, BOOL, "0"}},
-    {"AlwaysOnDM", {PERSISTENT, BOOL}},
+    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
     {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
@@ -30,42 +29,36 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"DisablePowerDown", {PERSISTENT, BOOL}},
-    {"DisableUpdates", {PERSISTENT, BOOL}},
-    {"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
+    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
+    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"DongleId", {PERSISTENT, STRING}},
     {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"EcuDisableFailed", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"AlphaLongitudinalEnabled", {PERSISTENT, BOOL}},
-    {"ExperimentalLongitudinalEnabled", {PERSISTENT, BOOL}},
-    {"ExperimentalMode", {PERSISTENT, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
-    {"PersistExperimentalState", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PersistedCEStatus", {PERSISTENT, INT, "0", "0"}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},
     {"GitCommit", {PERSISTENT, STRING}},
     {"GitCommitDate", {PERSISTENT, STRING}},
     {"GitDiff", {PERSISTENT, STRING}},
-    {"GithubSshKeys", {PERSISTENT, STRING}},
-    {"GithubUsername", {PERSISTENT, STRING}},
+    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
+    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
     {"GitRemote", {PERSISTENT, STRING}},
-    {"GsmApn", {PERSISTENT, STRING}},
-    {"GsmMetered", {PERSISTENT, BOOL, "1"}},
-    {"GsmRoaming", {PERSISTENT, BOOL}},
+    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
+    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
-    {"HondaGasFactorParams", {PERSISTENT, FLOAT}},
-    {"HondaWindFactorParams", {PERSISTENT, FLOAT}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
-    {"IsLdwEnabled", {PERSISTENT, BOOL}},
-    {"IsMetric", {PERSISTENT, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
@@ -73,7 +66,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LanguageSetting", {PERSISTENT, STRING, "main_en"}},
+    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
     {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -84,15 +77,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"LiveDelay", {PERSISTENT, BYTES}},
+    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
-    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"NetworkMetered", {PERSISTENT, BOOL}},
+    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -108,22 +100,20 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
+    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
-    {"RecordAudio", {PERSISTENT, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
-    {"RecordFront", {PERSISTENT, BOOL}},
+    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
-    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
+    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
-    {"ShowAllToggles", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"UsePrebuilt", {PERSISTENT, BOOL, "1"}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"SshEnabled", {PERSISTENT, BOOL}},
+    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"TermsVersion", {PERSISTENT, STRING}},
     {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
@@ -142,468 +132,136 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"Version", {PERSISTENT, STRING}},
 
-    // StarPilot variables
-    {"AccelerationPath", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"AccelerationProfile", {PERSISTENT, INT, "0", "0", 0}},
-    {"AdjacentLeadsUI", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AdvancedCustomUI", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
-    {"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
-    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
-    {"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
-    {"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
-    {"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
-    {"BootLogo", {PERSISTENT, STRING, "starpilot", "stock", 0}},
-    {"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
-    {"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"BelowSteerSpeedVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"BorderMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"BorderWidth", {PERSISTENT, FLOAT, "100.0", "100.0", 2}},
-    {"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
-    {"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"CameraView", {PERSISTENT, INT, "3", "0", 2}},
-    {"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"DisableWideRoad", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"CancelThemeDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"CarMake", {PERSISTENT, STRING, "mock", "mock", 0}},
-    {"CarModel", {PERSISTENT, STRING, "MOCK", "MOCK", 0}},
-    {"CarModelName", {PERSISTENT, STRING, "", "", 0}},
-    {"CECurves", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CELead", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CEModelStopTime", {PERSISTENT, FLOAT, "7.0", "0.0", 2}},
-    {"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"CESignalSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"CESlowerLead", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
-    {"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CEStoppedLead", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"ClusterOffset", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"BootLogoToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
-    {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
-    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CustomAccelProfileInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CustomAccelProfile0MPH", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
-    {"CustomAccelProfile11MPH", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
-    {"CustomAccelProfile22MPH", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
-    {"CustomAccelProfile34MPH", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
-    {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
-    {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
-    {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
-    {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
-    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"CancelButtonControl", {PERSISTENT, INT, "1", "0", 2}},
-    {"CancelButtonControlsMigrated", {PERSISTENT, BOOL, "0", "0"}},
-    {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"RelaxedPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
-    {"DecelerationProfile", {PERSISTENT, INT, "1", "0", 2}},
-    {"DeveloperMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeveloperSidebar", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeveloperSidebarMetric1", {PERSISTENT, INT, "1", "0", 3}},
-    {"DeveloperSidebarMetric2", {PERSISTENT, INT, "2", "0", 3}},
-    {"DeveloperSidebarMetric3", {PERSISTENT, INT, "3", "0", 3}},
-    {"DeveloperSidebarMetric4", {PERSISTENT, INT, "4", "0", 3}},
-    {"DeveloperSidebarMetric5", {PERSISTENT, INT, "5", "0", 3}},
-    {"DeveloperSidebarMetric6", {PERSISTENT, INT, "6", "0", 3}},
-    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
-    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"DeviceShutdown", {PERSISTENT, INT, "9", "33", 1}},
-    {"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
-    {"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
-    {"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
-    {"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"DownloadableBootLogos", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableColors", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableSignals", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableSounds", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableWheels", {PERSISTENT, STRING, "", ""}},
-    {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"Model", {PERSISTENT, STRING, "sc2", "sc2", 1}},
-    {"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
-    {"DrivingModel", {PERSISTENT, STRING, "sc2", "sc2", 1}},
-    {"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
-    {"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
-    {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"EngageVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"GMDashSpoofOffsets", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
-    {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPAdaptiveAccel", {PERSISTENT, BOOL, "1", "1"}},
-    {"NAPFollowDistance", {PERSISTENT, INT, "4", "4"}},
-    {"NAPForcePreAP", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPPedalEnabled", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPPedalCanBus", {PERSISTENT, INT, "2", "2"}},
-    {"NAPPedalCalibDone", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPPedalCalibMin", {PERSISTENT, FLOAT, "-3.0", "-3.0"}},
-    {"NAPPedalCalibMax", {PERSISTENT, FLOAT, "99.6", "99.6"}},
-    {"NAPPedalCalibFactor", {PERSISTENT, FLOAT, "1.0", "1.0"}},
-    {"NAPPedalCalibZero", {PERSISTENT, FLOAT, "0.0", "0.0"}},
-    {"NAPPedalProfile", {PERSISTENT, INT, "4", "4"}},
-    {"NAPRadarBehindNosecone", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPRadarEnabled", {PERSISTENT, BOOL, "0", "0"}},
-    {"NAPRadarOffset", {PERSISTENT, FLOAT, "0.0", "0.0"}},
-    {"ForceAutoTune", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ForceAutoTuneOff", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"ForceStops", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2}},
-    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"StarPilotApiToken", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"StarPilotCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES, "", ""}},
-    {"StarPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
-    {"StarPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"StarPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
-    {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"GoatScream", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"GoatScreamCriticalAlerts", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"HideAlerts", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideChangingLanesBanner", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideDistanceProfileBanner", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideTurningBanner", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideDMIcon", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideLeadMarker", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideMaxSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"CoastUpToLeads", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
-    {"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"IncreasedStoppedDistance", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"IncreasedStoppedDistanceLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"RedneckCruise", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"IncreaseFollowingLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
-    {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
-    {"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
-    {"LaneChanges", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"LaneChangeSmoothing", {PERSISTENT, INT, "10", "10", 1}},
-    {"LaneChangeTime", {PERSISTENT, FLOAT, "1.0", "0.0", 1}},
-    {"LaneDetectionWidth", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"LaneLinesColor", {PERSISTENT, STRING, "", "", 2}},
-    {"LaneLinesWidth", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
-    {"LastMapsUpdate", {PERSISTENT, STRING, "", ""}},
-    {"LateralTune", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
-    {"LeadIndicator", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2}},
-    {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
-    {"LongCancelButtonControl", {PERSISTENT, INT, "5", "0", 2}},
-    {"LongDistanceButtonControl", {PERSISTENT, INT, "5", "0", 2}},
-    {"LongModeButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"LongStarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"LongitudinalActuatorDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"LongitudinalActuatorDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"LateralManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
-    {"LongitudinalManeuverPaddleMode", {PERSISTENT, STRING, "auto", "auto"}},
-    {"LongitudinalManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
-    {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
-    {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
-    {"MapboxSecretKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"MapDeceleration", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"MapdSettings", {PERSISTENT, JSON, "{}", "{}"}},
-    {"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
-    {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
-    {"VisionSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"VisionSpeedLimitConfidence", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"VisionSpeedLimitBookmarkCount", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
-    {"VisionSpeedLimitDebugSession", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitLastEvent", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitStatus", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitStream", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"MaxDesiredAcceleration", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
-    {"MinimumBackupSize", {PERSISTENT, INT, "0", "0"}},
-    {"MinimumLaneChangeSpeed", {PERSISTENT, FLOAT, "20.0", "20.0", 2}},
-    {"ModeButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"ModelDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
-    {"ModelReleasedDates", {PERSISTENT, STRING, "", "", 1}},
-    {"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ModelSortMode", {PERSISTENT, STRING, "alphabetical", "alphabetical", 1}},
-    {"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ModelVersions", {PERSISTENT, STRING, "", "", 1}},
-    {"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"NNFF", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NNFFLite", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NostalgiaMode", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
-    {"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NudgelessLaneChange", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset3", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset4", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset5", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"Offset6", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"Offset7", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"OneLaneChange", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"OnroadDistanceButton", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"WheelButtonBookmarkCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
-    {"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
-    {"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
-    {"PathColor", {PERSISTENT, STRING, "", "", 2}},
-    {"PathEdgesColor", {PERSISTENT, STRING, "", "", 2}},
-    {"PathEdgeWidth", {PERSISTENT, FLOAT, "20.0", "0.0", 2}},
-    {"PathWidth", {PERSISTENT, FLOAT, "6.1", "5.9", 2}},
-    {"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PondPaired", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"PondUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
-    {"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
-    {"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"PromptVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"RadarTracksUI", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"RainbowPath", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomEvents", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomThemes", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomThemesHolidays", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"ReduceAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
-    {"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"RelaxedFollow", {PERSISTENT, FLOAT, "1.6", "1.6", 2}},
-    {"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.4", "1.4", 2}},
-    {"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
-    {"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2}},
-    {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2}},
-    {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2}},
-    {"ScreenTimeoutOnroad", {PERSISTENT, INT, "30", "10", 2}},
-    {"SecOCKeys", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"SafeMode", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
-    {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ShowCPU", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowCSCStatus", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ShowGPU", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowIP", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowMemoryUsage", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowModeStatusBanner", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ShownToggleDescriptions", {PERSISTENT, JSON, "{}", "{}"}},
-    {"ShowSLCOffset", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"ShowSpeedLimits", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ShowSteering", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowStoppingPoint", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowStoppingPointMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowStorageLeft", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowStorageUsed", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SidebarMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"SidebarOpen", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SignalAnimation", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"SignalMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SignalToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"SimpleMode", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCAbbreviatedSources", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SLCActiveSourcesOnly", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SLCConfirmation", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCConfirmationHigher", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCConfirmationLower", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCFallback", {PERSISTENT, INT, "2", "0", 1}},
-    {"SLCLookaheadHigher", {PERSISTENT, INT, "0", "0", 2}},
-    {"SLCLookaheadLower", {PERSISTENT, INT, "0", "0", 2}},
-    {"SLCMapboxFiller", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"SLCOverride", {PERSISTENT, INT, "1", "0", 1}},
-    {"SLCPriority", {PERSISTENT, STRING, "", "", 2}},
-    {"SLCPriority1", {PERSISTENT, STRING, "Map Data", "Map Data", 2}},
-    {"SLCPriority2", {PERSISTENT, STRING, "Dashboard", "Dashboard", 2}},
-    {"SNGHack", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"SoundPack", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"SoundToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"SLCAdoptSpeedLimit", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"SLCForceCruiseSpeed", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"SpeedLimitAccepted", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"SpeedLimitChangedAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimitController", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimitFiller", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimits", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
-    {"SpeedLimitsFiltered", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
-    {"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
-    {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
-    {"StandardJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandardJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StartupMessageBottom", {PERSISTENT, STRING, "Human-tested, frog-approved 🐸", "Always keep hands on wheel and eyes on road", 0}},
-    {"StartupMessageTop", {PERSISTENT, STRING, "Hop in and buckle up!", "Be ready to take over at any time", 0}},
-    {"StaticPedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"SteerDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerFriction", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerFrictionStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerKP", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerKPStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerLatAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerLatAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerOffsetStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StockDongleId", {PERSISTENT, STRING, "", ""}},
-    {"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StopAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StoppedTimer", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"StopDistance", {PERSISTENT, FLOAT, "6.0", "6.0", 2}},
-    {"StoppingDecelRate", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StoppingDecelRateStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"SwitchbackModeCooldown", {PERSISTENT, INT, "5", "0", 2}},
-    {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
-    {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
-    {"ThemeDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ThemesDownloaded", {PERSISTENT, JSON, "{}", "{}"}},
-    {"Timezone", {PERSISTENT, STRING, "", ""}},
-    {"TinygradUpdateAvailable", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"ToyotaDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"TrafficFollow", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
-    {"TrafficJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"TrafficJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TruckTuning", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
-    {"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"Updated", {PERSISTENT, STRING, "0", "0"}},
-    {"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UpdateSpeedLimitsStatus", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"UpdateTinygrad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UpdateWheelImage", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UseActiveTheme", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UseKonikServer", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"UseSI", {PERSISTENT, BOOL, "1", "1", 3}},
-    {"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
-    {"UseVienna", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"VEgoStarting", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStartingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStopping", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStoppingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VeryLongCancelButtonControl", {PERSISTENT, INT, "6", "0", 2}},
-    {"VeryLongDistanceButtonControl", {PERSISTENT, INT, "6", "0", 2}},
-    {"VeryLongModeButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"VeryLongStarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
-    {"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"GMAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WarningImmediateVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"WarningSoftVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"WeatherPresets", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WeatherToken", {PERSISTENT | DONT_LOG, STRING, "", "", 2}},
-    {"WheelControls", {PERSISTENT, STRING, "", "", 2}},
-    {"WheelIcon", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"WheelSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WheelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    // --- sunnypilot params --- //
+    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
+    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
+    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
+    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarList", {PERSISTENT, JSON}},
+    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
+    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
+    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
+    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
+    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
+    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
+    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
+    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
+    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
+    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // MADS params
+    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
+
+    // Model Manager params
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
+
+    // Neural Network Lateral Control
+    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // sunnylink params
+    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
+    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
+    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
+    {"SunnylinkDongleId", {PERSISTENT, STRING}},
+    {"SunnylinkdPid", {PERSISTENT, INT}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
+
+    // Backup Manager params
+    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
+    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
+
+    // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // sunnypilot model params
+    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+
+    // mapd
+    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
+    {"MapdVersion", {PERSISTENT, STRING}},
+    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", {PERSISTENT, STRING}},
+    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
+    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmLocal", {PERSISTENT, BOOL}},
+    {"OsmLocationName", {PERSISTENT, STRING}},
+    {"OsmLocationTitle", {PERSISTENT, STRING}},
+    {"OsmLocationUrl", {PERSISTENT, STRING}},
+    {"OsmStateName", {PERSISTENT, STRING, "All"}},
+    {"OsmStateTitle", {PERSISTENT, STRING}},
+    {"OsmWayTest", {PERSISTENT, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT, STRING}},
+
+    // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Smart Cruise Control
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Torque lateral control custom params
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };

common/params_pyx.pyx

@@ -18,11 +18,9 @@ cdef extern from "common/params.h":
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
     CLEAR_ON_IGNITION_ON
+    BACKUP
     ALL
 
-    # StarPilot variables
-    DONT_LOG
-
   cpdef enum ParamKeyType:
     STRING
     BOOL
@@ -33,7 +31,7 @@ cdef extern from "common/params.h":
     BYTES
 
   cdef cppclass c_Params "Params":
-    c_Params(string, bool) except + nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil
@@ -46,14 +44,7 @@ cdef extern from "common/params.h":
     optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyFlag)
-    vector[string] allKeys()
-
-    # StarPilot variables
-    ParamKeyFlag getKeyFlag(string) nogil
-
-    optional[string] getStockValue(string) nogil
-
-    int getTuningLevel(string) nogil
+    vector[string] allKeys(ParamKeyFlag)
 
 PYTHON_2_CPP = {
   (str, STRING): lambda v: v,
@@ -65,35 +56,12 @@ PYTHON_2_CPP = {
   (list, JSON): json.dumps,
   (bytes, BYTES): lambda v: v,
 }
-
-
-def _decode_int(v):
-  decoded = v.decode("utf-8")
-  try:
-    return int(decoded)
-  except ValueError:
-    return int(float(decoded))
-
-
-def _decode_time(v):
-  decoded = v.decode("utf-8")
-  try:
-    return datetime.datetime.fromisoformat(decoded)
-  except ValueError:
-    for fmt in ("%B %d, %Y - %I:%M%p", "%B %d, %Y - %I:%M %p"):
-      try:
-        return datetime.datetime.strptime(decoded, fmt)
-      except ValueError:
-        pass
-    raise
-
-
 CPP_2_PYTHON = {
   STRING: lambda v: v.decode("utf-8"),
   BOOL: lambda v: v == b"1",
-  INT: _decode_int,
+  INT: int,
   FLOAT: float,
-  TIME: _decode_time,
+  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
   JSON: json.loads,
   BYTES: lambda v: v,
 }
@@ -108,27 +76,14 @@ cdef class Params:
   cdef c_Params* p
   cdef str d
 
-  # StarPilot variables
-  cdef bool m
-  cdef bool return_defaults
-
-  def __cinit__(self, d="", *, memory=False, return_defaults=False):
+  def __cinit__(self, d=""):
     cdef string path = <string>d.encode()
-
-    # StarPilot variables
-    cdef bool c_memory = memory
-
     with nogil:
-      self.p = new c_Params(path, c_memory)
+      self.p = new c_Params(path)
     self.d = d
 
-    # StarPilot variables
-    self.m = memory
-
-    self.return_defaults = return_defaults or memory
-
   def __reduce__(self):
-    return (type(self), (self.d, self.m, self.return_defaults))
+    return (type(self), (self.d,))
 
   def __dealloc__(self):
     del self.p
@@ -165,7 +120,7 @@ cdef class Params:
     with nogil:
       val = self.p.get(k, block)
 
-    default_val = (default.value() if default.has_value() else None) if (return_default or self.return_defaults and not block) else None
+    default_val = (default.value() if default.has_value() else None) if return_default else None
     if val == b"":
       if block:
         # If we got no value while running in blocked mode
@@ -227,8 +182,8 @@ cdef class Params:
   def get_type(self, key):
     return self.p.getKeyType(self.check_key(key))
 
-  def all_keys(self):
-    return self.p.allKeys()
+  def all_keys(self, flag=ParamKeyFlag.ALL):
+    return self.p.allKeys(flag)
 
   def get_default_value(self, key):
     cdef string k = self.check_key(key)
@@ -240,18 +195,3 @@ cdef class Params:
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
     return self._cpp2python(t, value, None, key)
-
-  # StarPilot variables
-  def get_key_flag(self, key):
-    return self.p.getKeyFlag(self.check_key(key))
-
-  def get_stock_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] stock = self.p.getStockValue(k)
-    return self._cpp2python(t, stock.value(), None, key) if stock.has_value() else None
-
-  def get_tuning_level(self, key):
-    cdef string k = self.check_key(key)
-    cdef optional[int] level = self.p.getTuningLevel(k)
-    return level.value() if level.has_value() else 0

common/prefix.h

@@ -13,7 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/msgq_" + prefix;
+    msgq_path = Path::shm_path() + "/" + prefix;
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/realtime.py

@@ -30,10 +30,7 @@ class Priority:
 
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
-    try:
-      os.sched_setaffinity(0, cores)
-    except OSError:
-      pass
+    os.sched_setaffinity(0, cores)
 
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:

common/spinner.py

@@ -5,28 +5,10 @@ from openpilot.common.basedir import BASEDIR
 
 class Spinner:
   def __init__(self):
-    self.spinner_proc = None
-
-    # Prefer the legacy compiled spinner on device.
-    legacy_spinner = os.path.join(BASEDIR, "selfdrive", "ui", "spinner")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_spinner) and os.access(legacy_spinner, os.X_OK):
-      try:
-        self.spinner_proc = subprocess.Popen([legacy_spinner],
-                                             stdin=subprocess.PIPE,
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                             close_fds=True)
-        return
-      except OSError:
-        self.spinner_proc = None
-
-    # Raylib spinner requires Python deps from the repo virtualenv.
-    spinner_cwd = os.path.join(BASEDIR, "system", "ui")
-    venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
-    python_exec = venv_python if os.path.isfile(venv_python) else "python3"
     try:
-      self.spinner_proc = subprocess.Popen([python_exec, "./spinner.py"],
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
                                            stdin=subprocess.PIPE,
-                                           cwd=spinner_cwd,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
                                            close_fds=True)
     except OSError:
       self.spinner_proc = None

common/swaglog.cc

@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }

common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

common/tests/test_params.py

@@ -101,16 +101,6 @@ class TestParams:
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
 
-  def test_put_nonblocking_latest_value_wins(self, tmp_path):
-    q = Params(str(tmp_path))
-    for i in range(100):
-      q.put_nonblocking("CarParams", f"value-{i}".encode())
-
-    del q
-
-    r = Params(str(tmp_path))
-    assert r.get("CarParams") == b"value-99"
-
   def test_params_all_keys(self):
     keys = Params().all_keys()
 

common/tests/test_swaglog.cc

@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);

common/text_window.py

@@ -7,27 +7,10 @@ from openpilot.common.basedir import BASEDIR
 
 class TextWindow:
   def __init__(self, text):
-    self.text_proc = None
-
-    # Prefer the legacy compiled text window on device.
-    legacy_text = os.path.join(BASEDIR, "selfdrive", "ui", "text")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_text) and os.access(legacy_text, os.X_OK):
-      try:
-        self.text_proc = subprocess.Popen([legacy_text, text],
-                                          stdin=subprocess.PIPE,
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                          close_fds=True)
-        return
-      except OSError:
-        self.text_proc = None
-
-    text_cwd = os.path.join(BASEDIR, "system", "ui")
-    venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
-    python_exec = venv_python if os.path.isfile(venv_python) else "python3"
     try:
-      self.text_proc = subprocess.Popen([python_exec, "./text.py", text],
+      self.text_proc = subprocess.Popen(["./text.py", text],
                                         stdin=subprocess.PIPE,
-                                        cwd=text_cwd,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
                                         close_fds=True)
     except OSError:
       self.text_proc = None

common/transformations/SConscript

@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')

common/util.h

@@ -36,11 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
-
-// StarPilot variables
-const double FOOT_TO_METER = 1. / METER_TO_FOOT;
-const double CM_TO_INCH = 1. / 2.54;
-const double INCH_TO_CM = 1. / CM_TO_INCH;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 

common/watchdog.cc

@@ -1,12 +0,0 @@
-#include <string>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
-
-bool watchdog_kick(uint64_t ts) {
-  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) == 0;
-}

common/watchdog.h

@@ -1,5 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-bool watchdog_kick(uint64_t ts);

common/watchdog.py

@@ -1,28 +0,0 @@
-import os
-import time
-import struct
-from openpilot.system.hardware.hw import Paths
-from openpilot.common.swaglog import cloudlog
-
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
-_LAST_KICK = 0.0
-_LAST_ERROR_LOG = 0.0
-
-def kick_watchdog():
-  global _LAST_KICK, _LAST_ERROR_LOG
-  current_time = time.monotonic()
-
-  if current_time - _LAST_KICK < 1.0:
-    return True
-
-  try:
-    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
-      f.write(struct.pack('<Q', int(current_time * 1e9)))
-      f.flush()
-    _LAST_KICK = current_time
-    return True
-  except OSError as e:
-    if current_time - _LAST_ERROR_LOG >= 5.0:
-      cloudlog.error(f"watchdog kick failed for pid {os.getpid()}: {e}")
-      _LAST_ERROR_LOG = current_time
-    return False

compile_commands.json

@@ -0,0 +1,752 @@
+[
+    {
+        "command": "clang++ -o common/params.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/params.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/params.cc",
+        "output": "/data/openpilot/common/params.o"
+    },
+    {
+        "command": "clang++ -o common/swaglog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/swaglog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/swaglog.cc",
+        "output": "/data/openpilot/common/swaglog.o"
+    },
+    {
+        "command": "clang++ -o common/util.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/util.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/util.cc",
+        "output": "/data/openpilot/common/util.o"
+    },
+    {
+        "command": "clang++ -o common/ratekeeper.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/ratekeeper.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/ratekeeper.cc",
+        "output": "/data/openpilot/common/ratekeeper.o"
+    },
+    {
+        "command": "clang++ -o common/clutil.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/clutil.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/clutil.cc",
+        "output": "/data/openpilot/common/clutil.o"
+    },
+    {
+        "command": "clang++ -o common/params_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include common/params_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/params_pyx.cpp",
+        "output": "/data/openpilot/common/params_pyx.o"
+    },
+    {
+        "command": "clang++ -o common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/transformations/orientation.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/transformations/orientation.cc",
+        "output": "/data/openpilot/common/transformations/orientation.o"
+    },
+    {
+        "command": "clang++ -o common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/transformations/coordinates.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/transformations/coordinates.cc",
+        "output": "/data/openpilot/common/transformations/coordinates.o"
+    },
+    {
+        "command": "clang++ -o common/transformations/transformations.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include common/transformations/transformations.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/transformations/transformations.cpp",
+        "output": "/data/openpilot/common/transformations/transformations.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/ipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/event.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/event.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/event.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/event.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_zmq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/impl_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_zmq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_zmq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/impl_msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_fake.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/impl_fake.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_fake.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_fake.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/ipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/visionipc/visionipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_server.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_client.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionbuf.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/visionipc/visionbuf.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionbuf_ion.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/log.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/gen/cpp/log.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/log.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/log.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/car.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/gen/cpp/car.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/car.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/car.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/legacy.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/gen/cpp/legacy.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/legacy.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/legacy.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/custom.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/gen/cpp/custom.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/custom.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/bridge.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/messaging/bridge.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/bridge.cc",
+        "output": "/data/openpilot/cereal/messaging/bridge.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/msgq_to_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/messaging/msgq_to_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "output": "/data/openpilot/cereal/messaging/msgq_to_zmq.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/socketmaster.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/messaging/socketmaster.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/socketmaster.cc",
+        "output": "/data/openpilot/cereal/messaging/socketmaster.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/rsa.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/panda_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/sha.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/panda_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/main.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/rsa.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/panda_jungle_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/sha.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/panda_jungle_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/jungle/main.c",
+        "output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/rsa.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/body_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/crypto/sha.c",
+        "output": "/data/openpilot/panda/crypto/board/obj/body_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/body/main.c",
+        "output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_load.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include rednose/helpers/ekf_load.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_load.cc",
+        "output": "/data/openpilot/rednose/helpers/ekf_load.os"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_sym.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include rednose/helpers/ekf_sym.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_sym.cc",
+        "output": "/data/openpilot/rednose/helpers/ekf_sym.os"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_sym_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include rednose/helpers/ekf_sym_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_sym_pyx.cpp",
+        "output": "/data/openpilot/rednose/helpers/ekf_sym_pyx.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/logger.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/logger.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/logger.cc",
+        "output": "/data/openpilot/system/loggerd/logger.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/zstd_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/zstd_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/zstd_writer.cc",
+        "output": "/data/openpilot/system/loggerd/zstd_writer.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/video_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/video_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/video_writer.cc",
+        "output": "/data/openpilot/system/loggerd/video_writer.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/encoder/encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/v4l_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/encoder/v4l_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/v4l_encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/jpeg_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/encoder/jpeg_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/jpeg_encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/loggerd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/loggerd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/loggerd.cc",
+        "output": "/data/openpilot/system/loggerd/loggerd.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoderd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/encoderd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoderd.cc",
+        "output": "/data/openpilot/system/loggerd/encoderd.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/bootlog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/loggerd/bootlog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/bootlog.cc",
+        "output": "/data/openpilot/system/loggerd/bootlog.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/camera_qcom2.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/cameras/camera_qcom2.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "output": "/data/openpilot/system/camerad/cameras/camera_qcom2.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/camera_common.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/cameras/camera_common.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/camera_common.cc",
+        "output": "/data/openpilot/system/camerad/cameras/camera_common.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/spectra.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/cameras/spectra.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/spectra.cc",
+        "output": "/data/openpilot/system/camerad/cameras/spectra.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/cdm.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/cameras/cdm.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/cdm.cc",
+        "output": "/data/openpilot/system/camerad/cameras/cdm.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/sensors/ox03c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/sensors/ox03c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/sensors/ox03c10.cc",
+        "output": "/data/openpilot/system/camerad/sensors/ox03c10.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/sensors/os04c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/sensors/os04c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/sensors/os04c10.cc",
+        "output": "/data/openpilot/system/camerad/sensors/os04c10.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include system/camerad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/main.cc",
+        "output": "/data/openpilot/system/camerad/main.o"
+    },
+    {
+        "command": "clang++ -o third_party/json11/json11.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unqualified-std-cast-call -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include third_party/json11/json11.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/third_party/json11/json11.cpp",
+        "output": "/data/openpilot/third_party/json11/json11.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/panda.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/panda.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/panda.cc",
+        "output": "/data/openpilot/selfdrive/pandad/panda.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/panda_comms.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/panda_comms.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/panda_comms.cc",
+        "output": "/data/openpilot/selfdrive/pandad/panda_comms.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/spi.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/spi.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/spi.cc",
+        "output": "/data/openpilot/selfdrive/pandad/spi.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/main.cc",
+        "output": "/data/openpilot/selfdrive/pandad/main.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/pandad.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/pandad.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/pandad.cc",
+        "output": "/data/openpilot/selfdrive/pandad/pandad.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/panda_safety.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/panda_safety.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/panda_safety.cc",
+        "output": "/data/openpilot/selfdrive/pandad/panda_safety.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/can_list_to_can_capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/can_list_to_can_capnp.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/can_list_to_can_capnp.cc",
+        "output": "/data/openpilot/selfdrive/pandad/can_list_to_can_capnp.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/pandad_api_impl.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/pandad/pandad_api_impl.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/pandad_api_impl.cpp",
+        "output": "/data/openpilot/selfdrive/pandad/pandad_api_impl.o"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/locationd/models/generated/pose.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/locationd/models/generated/pose.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "output": "/data/openpilot/selfdrive/locationd/models/generated/pose.os"
+    },
+    {
+        "command": "clang++ -o selfdrive/locationd/models/generated/car.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/locationd/models/generated/car.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "output": "/data/openpilot/selfdrive/locationd/models/generated/car.os"
+    },
+    {
+        "command": "clang++ -o selfdrive/modeld/models/commonmodel.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/modeld/models/commonmodel.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/modeld/models/commonmodel.cc",
+        "output": "/data/openpilot/selfdrive/modeld/models/commonmodel.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/modeld/transforms/loadyuv.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/modeld/transforms/loadyuv.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/modeld/transforms/loadyuv.cc",
+        "output": "/data/openpilot/selfdrive/modeld/transforms/loadyuv.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/modeld/transforms/transform.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/modeld/transforms/transform.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/modeld/transforms/transform.cc",
+        "output": "/data/openpilot/selfdrive/modeld/transforms/transform.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/modeld/models/commonmodel_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/selfdrive/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/modeld/models/commonmodel_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.cpp",
+        "output": "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/models/commonmodel.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/models/commonmodel.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/models/commonmodel.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/models/commonmodel.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/transforms/loadyuv.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/transforms/loadyuv.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/transforms/loadyuv.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/transforms/transform.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/transforms/transform.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/transforms/transform.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/transforms/transform.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/runners/runmodel_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include sunnypilot/modeld/runners/runmodel_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/runners/runmodel_pyx.cpp",
+        "output": "/data/openpilot/sunnypilot/modeld/runners/runmodel_pyx.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/models/commonmodel_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include sunnypilot/modeld/models/commonmodel_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/models/commonmodel_pyx.cpp",
+        "output": "/data/openpilot/sunnypilot/modeld/models/commonmodel_pyx.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/thneed/clutil_legacy.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/thneed/clutil_legacy.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/thneed/clutil_legacy.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/thneed/clutil_legacy.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/thneed/thneed_common.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/thneed/thneed_common.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/thneed/thneed_common.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/thneed/thneed_common.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/thneed/serialize.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/thneed/serialize.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/thneed/serialize.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/thneed/serialize.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/thneed/thneed_qcom2.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/thneed/thneed_qcom2.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/thneed/thneed_qcom2.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/thneed/thneed_qcom2.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/runners/thneedmodel.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/runners/thneedmodel.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/runners/thneedmodel.cc",
+        "output": "/data/openpilot/sunnypilot/modeld/runners/thneedmodel.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld/runners/thneedmodel_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include sunnypilot/modeld/runners/thneedmodel_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld/runners/thneedmodel_pyx.cpp",
+        "output": "/data/openpilot/sunnypilot/modeld/runners/thneedmodel_pyx.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld_v2/models/commonmodel.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld_v2/models/commonmodel.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld_v2/models/commonmodel.cc",
+        "output": "/data/openpilot/sunnypilot/modeld_v2/models/commonmodel.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld_v2/transforms/loadyuv.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld_v2/transforms/loadyuv.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.cc",
+        "output": "/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld_v2/transforms/transform.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld_v2/transforms/transform.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld_v2/transforms/transform.cc",
+        "output": "/data/openpilot/sunnypilot/modeld_v2/transforms/transform.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/modeld_v2/models/commonmodel_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld_v2/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include sunnypilot/modeld_v2/models/commonmodel_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/modeld_v2/models/commonmodel_pyx.cpp",
+        "output": "/data/openpilot/sunnypilot/modeld_v2/models/commonmodel_pyx.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/models/generated/live.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/models/generated/car.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/selfdrive/locationd/models/generated/car.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/car.cpp",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/car.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/locationd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/selfdrive/locationd/locationd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/locationd.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/models/live_kf.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o"
+    }
+]

conftest.py

@@ -17,6 +17,7 @@ collect_ignore = [
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]
 
 

dev

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" "$@"

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 341 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -22,7 +22,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -87,6 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
@@ -116,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -129,10 +134,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -156,11 +164,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
@@ -224,21 +234,27 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
 |Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||

docs/how-to/laptop-device-build.md

@@ -1,129 +0,0 @@
-# Laptop Device Build (Mac/Linux)
-
-This flow builds **device-target (`larch64`) binaries on your laptop** using a Linux/aarch64 container and a synced comma sysroot.
-
-For the full StarPilot branch workflow, including host-native shorthand tools such as `./dev`, `./c3`, `./c4`, and `./raybig`, see [tools/STARPILOT_DEVELOPMENT.md](../../tools/STARPILOT_DEVELOPMENT.md).
-
-## Prerequisites
-
-- Docker Desktop (or Podman) with Linux/aarch64 support.
-- `rsync` and `ssh` on your laptop.
-- Either:
-  - access to a comma device over SSH, or
-  - internet access to download AGNOS system image for sysroot extraction.
-
-## One-time setup
-
-Fast path (no physical comma):
-
-```bash
-cd /path/to/starpilot
-scripts/laptop_device_build.sh setup
-```
-
-Equivalent wrapper:
-
-```bash
-scripts/starpilot_build_flow.sh laptop-setup
-```
-
-### Option A: no physical comma (AGNOS-based)
-
-```bash
-cd /path/to/starpilot
-scripts/laptop_device_build.sh build-image
-scripts/laptop_device_build.sh setup-sysroot-agnos
-```
-
-### Option B: copy sysroot from a comma device
-
-```bash
-cd /path/to/starpilot
-scripts/laptop_device_build.sh setup-sysroot <device-ip> comma 22
-scripts/laptop_device_build.sh build-image
-```
-
-Optional all-in-one with physical device sysroot:
-
-```bash
-scripts/laptop_device_build.sh setup <device-ip> comma 22
-```
-
-## Build device-compatible artifacts
-
-```bash
-cd /path/to/starpilot
-scripts/laptop_device_build.sh build
-```
-
-Equivalent wrapper:
-
-```bash
-scripts/starpilot_build_flow.sh laptop-device
-```
-
-This runs:
-
-- `uv sync` into `/work/.venv-linux-arm64` (inside container)
-- full `scons` with:
-  - `SP_FORCE_ARCH=larch64`
-  - `SP_FORCE_TICI=1`
-  - `SP_TICI_SYSROOT=/opt/tici-sysroot`
-- `touch prebuilt`
-
-To run `scons` targets explicitly in the same device-compatible environment:
-
-```bash
-scripts/laptop_device_build.sh scons selfdrive/ui/ui
-```
-
-On macOS, once `.comma_sysroot` is present, plain `scons ...` auto-routes to this containerized device build.
-Set `SP_DISABLE_AUTO_DEVICE_SCONS=1` to force native host `scons`.
-
-## Quick checks
-
-```bash
-scripts/laptop_device_build.sh doctor
-```
-
-If `doctor` fails, fix the missing runtime/sysroot step before running `build`.
-
-## One-command manager launch on desktop
-
-`./launch_openpilot.sh` now auto-routes desktop/mac launches to the containerized larch64 manager path:
-
-- runs `scripts/laptop_device_build.sh doctor`
-- runs `setup` automatically if prerequisites are missing
-- runs container manager launch, auto-building missing runtime artifacts first
-
-Useful overrides:
-
-- `SP_SKIP_DOCKER_AUTO_BUILD=1 ./launch_openpilot.sh` to skip auto-build.
-- `SP_DOCKER_BUILD_JOBS=12 ./launch_openpilot.sh` to control build parallelism.
-- `SP_FORCE_DEVICE_LAUNCH=1 ./launch_openpilot.sh` to force legacy device launch path.
-
-Note:
-
-- `manager` mode requires the container runtime machine to be `aarch64`.
-- If your built image runs as `x86_64`, build mode still works for artifact generation, but manager launch in-container is not supported.
-
-Preferred host-side shorthand commands on this branch:
-
-```bash
-./c3
-./c4
-./raybig
-./dev replay
-./dev cabana
-./dev plotjuggler
-```
-
-These commands use the isolated `.host_runtime` cache so host-native artifacts do not churn the main tree.
-
-Legacy direct script entrypoints still exist if needed:
-
-```bash
-scripts/launch_ui_desktop.sh
-scripts/launch_ui_c4_desktop.sh
-scripts/launch_ui_raybig_desktop.sh
-```

docs/how-to/train-speed-limit-vision.md

@@ -1,304 +0,0 @@
-# Train Speed-Limit Vision
-
-This flow is for replacing the current imported `ayoubsa_best` checkpoint with a U.S.-focused detector plus a separate posted-speed classifier.
-
-The intended recipe is:
-
-1. bootstrap from public traffic-sign data
-2. fine-tune on comma-specific bookmarked drives
-3. export ONNX models
-4. copy them onto the device for runtime testing
-
-## Why Two Models
-
-The detector and the value reader solve different problems.
-
-- detector: find the sign and decide whether it is a regulatory speed-limit sign
-- classifier: read the posted value from the cropped sign
-
-This is a better fit for U.S. roads than a single detector with baked-in classes like `Speed Limit 10`, `Speed Limit 20`, `Speed Limit 30`, and so on.
-
-## Suggested Public Data
-
-- `LISA` for U.S. roadside sign geometry and sign style
-- `ARTS` for U.S. MUTCD-style sign annotations and values
-- `GLARE` for U.S. glare/lighting failures
-
-Use public data to get the model into the right regime, then fine-tune on comma bookmarks and replay clips.
-
-## Install Training Deps
-
-From the repo root:
-
-```bash
-uv sync --extra speedvision
-```
-
-The runtime device does not need these packages. Only the training machine does.
-
-## Initialize a Workspace
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/init_workspace.py
-```
-
-This creates `.tmp/speed_limit_training` with:
-
-- detector image/label folders
-- classifier crop folders
-- review/bookmark manifests
-- raw-source manifests
-- export and run directories
-
-To keep the raw datasets off the internal disk, point `--workspace` at the SSD-backed workspace, for example:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/init_workspace.py \
-  --workspace /Volumes/T5/starpilot_speed_limit/workspace/speed_limit_training_clean
-```
-
-The workspace now also tracks:
-
-- `manifests/raw_sources.csv`
-- `manifests/public_detector_samples.csv`
-- `manifests/public_classifier_samples.csv`
-
-Those manifests are the provenance record for every imported public sample.
-
-## Import Public Datasets
-
-ARTS challenging subset:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/import_arts_challenging.py \
-  --workspace /Volumes/T5/starpilot_speed_limit/workspace/speed_limit_training_clean
-```
-
-This imports mapped speed-limit signs from the raw `challenging-dev.tar.gz` archive and appends detector/classifier provenance rows into the manifest CSVs.
-
-GLARE and LISA should be downloaded into the SSD raw tree first:
-
-- `/Volumes/T5/starpilot_speed_limit/raw/glare_official`
-- `/Volumes/T5/starpilot_speed_limit/raw/lisa_official`
-
-Then import them into the same workspace so the detector/classifier datasets stay source-traceable.
-
-For GLARE, do not pull the whole Drive tree blindly. Use the filtered raw downloader so only the `Images/` and optional `Tracks/` files land on disk:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/download_glare_raw.py \
-  --workspace /Volumes/T5/starpilot_speed_limit/workspace/speed_limit_training_clean \
-  --output-root /Volumes/T5/starpilot_speed_limit/raw/glare_raw \
-  --prefix Images/ \
-  --resume
-```
-
-Then import the completed image tree:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/import_glare_images.py \
-  --workspace /Volumes/T5/starpilot_speed_limit/workspace/speed_limit_training_clean \
-  --overwrite
-```
-
-## Import Bookmarked Debug Sessions
-
-After a drive, copy or mount the debug session directory locally, then import it:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/import_debug_sessions.py
-```
-
-Or point at specific sessions:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/import_debug_sessions.py 20260330_220102 20260330_223355
-```
-
-This writes:
-
-- `review/bookmarks.csv`
-- snapshot images under `review/images`
-
-That manifest is the shortlist for labeling.
-
-If the route only lives on comma connect, fetch it directly into the same clip layout the bookmark tools expect:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/download_connect_routes.py \
-  <dongle_id>/<route_log_id> \
-  --streams fcamera,qlog
-```
-
-This reads the JWT from `~/.comma/auth.json`, downloads the requested route files from comma connect, and updates:
-
-- `/Volumes/T5/starpilot_speed_limit/live_route_clips/bookmark_windows/data/media/0/realdata/...` when the SSD is mounted, otherwise the same `.tmp/...` paths under the repo
-- `/Volumes/T5/starpilot_speed_limit/live_routes_meta/qlog_mtimes.txt` when the SSD is mounted, otherwise `.tmp/live_routes_meta/qlog_mtimes.txt`
-- `/Volumes/T5/starpilot_speed_limit/live_routes_meta/files.txt` when the SSD is mounted, otherwise `.tmp/live_routes_meta/files.txt`
-
-For multiple routes, either pass several ids on the command line or use `--routes-file`.
-
-## Evaluate Real Sign Lead-Ins
-
-Bookmark stills are often too late. To score what matters, replay the real `fcamera.hevc` footage from the `5` seconds before each bookmark:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/evaluate_bookmark_leadins.py \
-  --json-out .tmp/live_route_clips/bookmark_windows_report.json
-```
-
-This produces a per-bookmark report of whether the current runtime saw anything in the usable sign approach window.
-
-The evaluator now reads a local session-to-route map from `session_route_map.json` under the same `live_routes_meta` root. Keep that file local or on the SSD so personal route ids never need to live in the repo.
-
-## Import Missed Lead-Ins for Labeling
-
-Turn those lead-in misses into review frames and contact sheets:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/import_bookmark_leadins.py \
-  --mode misses
-```
-
-This writes:
-
-- `review/bookmark_leadins.csv`
-- sampled frames under `review/leadins/frames`
-- contact sheets under `review/leadins/contact_sheets`
-
-That review set is the right source for labeling missed `55 mph`, night, and town-sequence failures.
-
-The bookmark/lead-in importers also accept source metadata fields such as region, device, and driver. Use those when importing debug sessions from multiple users so the comma-specific fine-tune can be sliced by contributor or geography instead of becoming one opaque pool.
-
-To shrink that review set to the most promising frames per missed sign window:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/rank_bookmark_leadin_frames.py
-```
-
-This writes `review/bookmark_leadin_shortlist.csv` with the top-ranked sampled frames per bookmark.
-
-## Build the Detector Dataset
-
-Take the imported review images and move or copy the ones you want into:
-
-- `detector/images/train`
-- `detector/images/val`
-
-Label them in YOLO detect format into:
-
-- `detector/labels/train`
-- `detector/labels/val`
-
-Recommended classes:
-
-- `regulatory_speed_limit`
-- `advisory_speed_limit`
-- `school_zone_speed_limit`
-
-The dataset YAML is already generated at:
-
-- `detector/dataset.yaml`
-
-## Build the Value Classifier Dataset
-
-Fill out:
-
-- `classifier/value_labels.csv`
-
-Columns:
-
-- `image_path`: source image file
-- `split`: `train` or `val`
-- `speed_limit_mph`: posted value such as `25`, `35`, or `55`
-- `bbox_index`: which YOLO box to crop if an image has multiple labeled signs
-- `padding`: optional crop padding ratio
-- `label_path`: optional explicit path to the YOLO label file
-
-Then generate the classifier crop folders:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/build_value_dataset.py
-```
-
-This writes cropped sign images into:
-
-- `classifier/train/<value>/...`
-- `classifier/val/<value>/...`
-
-## Train
-
-Detector:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/train_detector.py --device mps
-```
-
-Classifier:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/train_value_classifier.py --device mps
-```
-
-Use `--device cpu`, `--device mps`, or a CUDA device string depending on the training host.
-
-## Rebalance Toward Real Comma Data
-
-If the detector starts overfitting to synthetic/public data, build a lighter rebalanced dataset that keeps all `real_*` detector images and samples the rest:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/rebalance_detector_dataset.py \
-  --workspace .tmp/speed_limit_training \
-  --max-other-train 3200
-```
-
-Then point the detector trainer at the generated YAML:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/train_detector.py \
-  --workspace .tmp/speed_limit_training \
-  --data .tmp/speed_limit_training/detector_rebalanced/dataset.yaml \
-  --device mps
-```
-
-This keeps validation unchanged while making retrains faster and more comma-biased.
-
-## Export ONNX
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/export_models.py \
-  --detector-weights .tmp/speed_limit_training/runs/detector/yolo11n-speed-limit-us/weights/best.pt \
-  --classifier-weights .tmp/speed_limit_training/runs/classifier/yolo11n-cls-speed-limit-us/weights/best.pt \
-  --install-repo-assets
-```
-
-That writes:
-
-- `.tmp/speed_limit_training/exports/speed_limit_us_detector.onnx`
-- `.tmp/speed_limit_training/exports/speed_limit_us_value_classifier.onnx`
-
-And optionally copies them into:
-
-- `starpilot/assets/vision_models`
-
-## Copy to the Device
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/install_models.py --host comma@192.168.3.110
-```
-
-The runtime already prefers `speed_limit_us_detector.onnx` plus `speed_limit_us_value_classifier.onnx` when both files exist in `starpilot/assets/vision_models`.
-
-## Evaluate the Runtime Path
-
-Run the real StarPilot runtime path, using the installed ONNX pair, against the known saved-frame cases:
-
-```bash
-.venv/bin/python scripts/speed_limit_vision/evaluate_runtime_cases.py --strict
-```
-
-For temporal behavior on a saved frame directory or route extract, replay the runtime directly:
-
-```bash
-.venv/bin/python scripts/replay_speed_limit_vision.py .tmp/vision_iter/seg10_5fps --frames-fps 5
-```

docs/how-to/truenas-github-runner.md

@@ -1,113 +0,0 @@
-# TrueNAS SCALE GitHub Build Runner
-
-This setup runs a single GitHub self-hosted runner as a TrueNAS SCALE custom app and routes the `Compile StarPilot` workflow onto that runner.
-
-The app container:
-
-- registers one repository-scoped GitHub Actions runner
-- stays visible in the TrueNAS Apps UI
-- mounts the host Docker socket so `./build` can launch the existing larch64 build container flow
-- persists runner state and build caches in one dataset mounted at `/runner`
-
-## What this workflow does
-
-`.github/workflows/compile_starpilot.yaml` now:
-
-- lets an admin choose a `target_ref` branch from the Actions UI
-- checks out that branch on the NAS runner
-- runs `./build`
-- prunes the tree with `scripts/ci_package_prebuilt_tree.sh`
-- commits the result as `build`
-- pushes that commit back to the selected branch without force-pushing
-
-Use a branch intended for built output. The prune step removes developer-facing files and is not meant for normal day-to-day development branches.
-
-## 1. Publish the runner image
-
-You need a registry image for TrueNAS to deploy. The repo includes `.github/workflows/publish_truenas_runner.yaml` for this.
-
-1. Open **Actions** on GitHub.
-2. Run **Publish TrueNAS Runner Image**.
-3. Leave `image_tag` as `latest` unless you want a versioned tag.
-4. After it finishes, the image is available at:
-
-```text
-ghcr.io/<repo-owner>/starpilot-truenas-runner:latest
-```
-
-If you prefer to build it locally, run:
-
-```bash
-docker build -f tools/truenas_github_runner/Dockerfile -t ghcr.io/<repo-owner>/starpilot-truenas-runner:latest .
-docker push ghcr.io/<repo-owner>/starpilot-truenas-runner:latest
-```
-
-## 2. Create a runner token
-
-Generate a repository-scoped self-hosted runner token in GitHub:
-
-1. Open the repository.
-2. Go to **Settings > Actions > Runners**.
-3. Click **New self-hosted runner**.
-4. Choose **Linux** and **x64**.
-5. Copy the one-time registration token from the generated setup commands.
-
-That token expires quickly. Paste it into TrueNAS during deployment and restart the app if you need to re-register.
-
-## 3. Deploy on TrueNAS SCALE
-
-TrueNAS custom apps support Docker Compose YAML through **Apps > Discover Apps > Custom App > Install via YAML**.
-
-Create a dataset for persistent runner state first, for example:
-
-```text
-/mnt/<pool>/apps/starpilot-runner
-```
-
-Then paste this compose YAML into TrueNAS after replacing the placeholders:
-
-```yaml
-services:
-  starpilot-runner:
-    image: ghcr.io/<repo-owner>/starpilot-truenas-runner:latest
-    container_name: starpilot-runner
-    restart: unless-stopped
-    environment:
-      GITHUB_REPOSITORY_URL: https://github.com/<repo-owner>/<repo-name>
-      RUNNER_NAME: starpilot-truenas-runner
-      RUNNER_LABELS: self-hosted,truenas,starpilot-build
-      RUNNER_WORKDIR: /runner/_work
-      RUNNER_TOKEN: <paste-one-time-runner-token>
-      DOCKER_GID: ""
-      REMOVE_RUNNER_ON_EXIT: "0"
-    volumes:
-      - /mnt/<pool>/apps/starpilot-runner:/runner
-      - /var/run/docker.sock:/var/run/docker.sock
-```
-
-If the container starts but cannot talk to Docker, inspect the Docker socket group on TrueNAS and set `DOCKER_GID` to that numeric group id.
-
-## 4. Verify runner registration
-
-Confirm all of the following:
-
-- the app shows as `Running` in TrueNAS
-- the container passes its healthcheck
-- GitHub shows the runner as online with labels `self-hosted`, `truenas`, and `starpilot-build`
-
-## 5. Run a build
-
-1. Open **Actions > Compile StarPilot**.
-2. Click **Run workflow**.
-3. Enter the branch name in `target_ref`.
-4. Optionally set `jobs` to the parallelism you want for `./build`.
-5. Start the run.
-
-On success, the workflow pushes a new commit named `build` back to that branch.
-
-## Operational notes
-
-- `RUNNER_TOKEN` is only required on first registration or when you want to replace a stale runner with the same name.
-- Runner state is persisted in `/runner`, so normal restarts do not need a new token.
-- `REMOVE_RUNNER_ON_EXIT=1` enables best-effort deregistration on shutdown, but that only works when the provided token is still valid.
-- The build cache, GitHub workspace, and `.comma_sysroot` data all persist under the runner dataset as long as the workflow runs in the same mounted work area.

launch_chffrplus.sh

@@ -11,87 +11,11 @@ function agnos_init {
   # set success flag for current boot slot
   sudo abctl --set_success
 
-  # Restore SSH access after a user-triggered reset if keys were backed up to /cache.
-  SSH_BACKUP_DIR="/cache/reset_backup"
-  if [ -d "$SSH_BACKUP_DIR" ]; then
-    sudo mkdir -p /data/params/d
-    for key in GithubSshKeys SshEnabled; do
-      if [ -f "$SSH_BACKUP_DIR/$key" ]; then
-        sudo cp "$SSH_BACKUP_DIR/$key" "/data/params/d/$key"
-      fi
-    done
-    sudo chown comma:comma /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
-    sudo chmod 600 /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
-    sudo rm -rf "$SSH_BACKUP_DIR"
-  fi
-
   # TODO: do this without udev in AGNOS
   # udev does this, but sometimes we startup faster
   sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
   sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
 
-  # StarPilot variables
-  sudo chmod 0777 /cache
-
-  # Weston loads display color correction from /data/misc/display/color_cal/color_cal.
-  # Prefer a factory /persist/comma/color_cal blob when present. Otherwise, derive a
-  # Weston-compatible calibration blob from the device's legacy dwo gamma tables.
-  COLOR_CAL_SRC="/persist/comma/color_cal"
-  DWO_GAMMA_SRC="/persist/comma/dwo_gamma_curves"
-  COLOR_CAL_DST_DIR="/data/misc/display/color_cal"
-  COLOR_CAL_DST="${COLOR_CAL_DST_DIR}/color_cal"
-  COLOR_CAL_HASH_PATH="${COLOR_CAL_DST_DIR}/source.sha256"
-  DWO_REFERENCE="$DIR/tools/reference_dwo_gamma_curves.txt"
-  DWO_GENERATOR="$DIR/tools/generate_color_cal_from_dwo.py"
-  COLOR_CAL_UPDATED=0
-  COLOR_CAL_TMP=""
-  DWO_SOURCE_HASH=""
-
-  if [ -f "$COLOR_CAL_SRC" ]; then
-    sudo mkdir -p "$COLOR_CAL_DST_DIR"
-    if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_SRC" "$COLOR_CAL_DST"; then
-      sudo cp "$COLOR_CAL_SRC" "$COLOR_CAL_DST"
-      sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-      sudo chmod 664 "$COLOR_CAL_DST"
-      sudo rm -f "$COLOR_CAL_HASH_PATH"
-      COLOR_CAL_UPDATED=1
-    fi
-  elif [ -f "$DWO_GAMMA_SRC" ] && [ -f "$DWO_REFERENCE" ] && [ -f "$DWO_GENERATOR" ]; then
-    DWO_SOURCE_HASH="$(cat "$DWO_GAMMA_SRC" "$DWO_REFERENCE" "$DWO_GENERATOR" | sha256sum | awk '{print $1}')"
-    if [ ! -f "$COLOR_CAL_DST" ] || [ ! -f "$COLOR_CAL_HASH_PATH" ] || [ "$(cat "$COLOR_CAL_HASH_PATH" 2>/dev/null)" != "$DWO_SOURCE_HASH" ]; then
-      COLOR_CAL_TMP="$(mktemp)"
-      if python3 "$DWO_GENERATOR" --reference "$DWO_REFERENCE" --input "$DWO_GAMMA_SRC" --output "$COLOR_CAL_TMP"; then
-        sudo mkdir -p "$COLOR_CAL_DST_DIR"
-        if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_TMP" "$COLOR_CAL_DST"; then
-          sudo cp "$COLOR_CAL_TMP" "$COLOR_CAL_DST"
-          COLOR_CAL_UPDATED=1
-        fi
-        printf '%s' "$DWO_SOURCE_HASH" | sudo tee "$COLOR_CAL_HASH_PATH" >/dev/null
-        sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-        sudo chmod 664 "$COLOR_CAL_DST" "$COLOR_CAL_HASH_PATH"
-      fi
-      rm -f "$COLOR_CAL_TMP"
-    fi
-  fi
-
-  if [ "$COLOR_CAL_UPDATED" = "1" ] && systemctl is-active --quiet weston.service; then
-    sudo systemctl restart weston.service
-
-    # Weston can recreate wayland-0 as root on service restart before weston-ready
-    # fixes ownership. Repair it here so the Qt UI can always reconnect.
-    if [ -d /var/tmp/weston ]; then
-      for _ in $(seq 1 50); do
-        if [ -S /var/tmp/weston/wayland-0 ]; then
-          sudo chown -R comma:comma /var/tmp/weston 2>/dev/null || true
-          sudo chmod -R 700 /var/tmp/weston 2>/dev/null || true
-          SOCKET_OWNER="$(stat -c '%U:%G' /var/tmp/weston/wayland-0 2>/dev/null || true)"
-          [ "$SOCKET_OWNER" = "comma:comma" ] && break
-        fi
-        sleep 0.1
-      done
-    fi
-  fi
-
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
@@ -143,8 +67,7 @@ function launch {
 
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
-  export BASEDIR="$DIR"
-  export PYTHONPATH="$DIR/starpilot/third_party:$PWD"
+  export PYTHONPATH="$PWD"
 
   # hardware specific init
   if [ -f /AGNOS ]; then
@@ -156,75 +79,7 @@ function launch {
 
   # start manager
   cd system/manager
-
-  if ! python3 ./launch_param_migrations.py; then
-    echo "Launch param migrations failed; continuing boot."
-  fi
-
-  # Bootstrap runtime (e.g. /usr/comma after reset/uninstall) must go straight
-  # to manager/setup flow. Do not run StarPilot prebuilt checks/builds here.
-  if [ "$DIR" = "/usr/comma" ] || [ ! -d "$DIR/.git" ]; then
-    ./manager.py
-    while true; do sleep 1; done
-  fi
-
-  function prebuilt_runtime_compatible {
-    python3 - <<'PY'
-import importlib
-from pathlib import Path
-import sys
-
-mods = [
-  "openpilot.common.params_pyx",
-  "msgq.ipc_pyx",
-  "msgq.visionipc.visionipc_pyx",
-  "openpilot.common.transformations.transformations",
-  "openpilot.selfdrive.modeld.models.commonmodel_pyx",
-  "openpilot.selfdrive.pandad.pandad_api_impl",
-  "openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-  "openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-]
-
-for mod in mods:
-  try:
-    importlib.import_module(mod)
-  except Exception as e:
-    print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
-    raise
-
-repo_root = Path.cwd().parents[1]
-required_files = [
-  repo_root / "selfdrive/modeld/models/driving_vision_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/driving_policy_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/driving_vision_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/driving_policy_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
-  repo_root / "selfdrive/pandad/pandad_api_impl.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
-  repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
-]
-
-for path in required_files:
-  if not path.is_file():
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
-PY
-  }
-
-  USE_PREBUILT=1
-  if [ -f /data/params/d/UsePrebuilt ]; then
-    USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
-  fi
-
-  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
-    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
-    USE_PREBUILT=0
-  fi
-
-  if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
+  if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi
   ./manager.py

launch_env.sh

@@ -6,11 +6,6 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
-# On AGNOS, prefer the managed venv runtime (has required Python deps like pyzmq).
-if [ -x /usr/local/venv/bin/python3 ]; then
-  export PATH="/usr/local/venv/bin:${PATH}"
-fi
-
 # models get lower priority than ui
 # - ui is ~5ms
 # - modeld is 20ms
@@ -21,12 +16,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8.16"
+  export AGNOS_VERSION="15.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
-
-# StarPilot variables (only available after StarPilot is installed to /data/openpilot)
-if [ -x /data/openpilot/starpilot/system/environment_variables ]; then
-  eval "$(/data/openpilot/starpilot/system/environment_variables)"
-fi

launch_openpilot.sh

@@ -1,41 +1,20 @@
 #!/usr/bin/env bash
-
 set -euo pipefail
+IFS=$'\n\t'
 
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "${DIR}"
-export BASEDIR="${DIR}"
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
 
-is_device_runtime() {
-  [[ -f /TICI ]] || [[ -f /AGNOS ]] || [[ "${SP_FORCE_DEVICE_LAUNCH:-0}" == "1" ]]
-}
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
 
-if is_device_runtime; then
-  exec ./launch_chffrplus.sh "$@"
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
 fi
 
-# Desktop/laptop path: run manager in the larch64 container so behavior matches device runtime.
-if [[ -x /Applications/Docker.app/Contents/Resources/bin/docker ]]; then
-  export PATH="/Applications/Docker.app/Contents/Resources/bin:${PATH}"
-fi
-
-if ! scripts/laptop_device_build.sh doctor >/dev/null 2>&1; then
-  echo "Preparing laptop device-build environment..."
-  scripts/laptop_device_build.sh setup "${SP_DEVICE_HOST:-}" "${SP_DEVICE_USER:-comma}" "${SP_DEVICE_PORT:-22}"
-fi
-
-desktop_jobs() {
-  if command -v nproc >/dev/null 2>&1; then
-    nproc
-  elif command -v sysctl >/dev/null 2>&1; then
-    sysctl -n hw.ncpu
-  else
-    echo 8
-  fi
-}
-
-if [[ "${SP_SKIP_DOCKER_AUTO_BUILD:-0}" == "1" ]]; then
-  exec scripts/laptop_device_build.sh manager --no-build "$@"
-else
-  exec scripts/laptop_device_build.sh manager "${SP_DOCKER_BUILD_JOBS:-$(desktop_jobs)}" "$@"
-fi
+exec ./launch_chffrplus.sh

logs

@@ -1,573 +0,0 @@
-#!/bin/sh
-""":"
-REPO_ROOT="$(CDPATH= cd -- "$(dirname "$0")" && pwd)"
-PYTHON_BIN="$REPO_ROOT/.venv/bin/python"
-
-if [ ! -x "$PYTHON_BIN" ]; then
-  echo "Missing $PYTHON_BIN. Run 'uv sync' from $REPO_ROOT first." >&2
-  exit 1
-fi
-
-exec "$PYTHON_BIN" "$0" "$@"
-":"""
-
-from __future__ import annotations
-
-import argparse
-import bz2
-import io
-import json
-import os
-import re
-import shutil
-import sys
-import zipfile
-
-from dataclasses import dataclass
-from datetime import UTC, datetime
-from email.utils import parsedate_to_datetime
-from pathlib import Path
-from typing import Any
-from urllib.parse import quote, urlparse
-
-import requests
-import zstandard
-
-from cereal import log
-
-
-API_HOST = os.getenv("COMMA_API_HOST", "https://api.commadotai.com").rstrip("/")
-ROUTE_ID_RE = re.compile(r"([0-9a-f]{16})/([^/]+)")
-
-
-@dataclass(frozen=True)
-class StreamSpec:
-  api_key: str
-  display_name: str
-
-
-@dataclass(frozen=True)
-class RouteId:
-  dongle_id: str
-  log_id: str
-
-  @property
-  def canonical_name(self) -> str:
-    return f"{self.dongle_id}|{self.log_id}"
-
-  @property
-  def cli_name(self) -> str:
-    return f"{self.dongle_id}/{self.log_id}"
-
-  @property
-  def safe_name(self) -> str:
-    return f"{self.dongle_id}_{self.log_id}"
-
-
-@dataclass
-class DownloadedFile:
-  segment: int
-  stream: str
-  filename: str
-  relative_path: str
-  mtime_epoch: int | None
-
-
-@dataclass
-class MapTileSummary:
-  qlogs_scanned: int = 0
-  mapd_messages: int = 0
-  tile_loaded_messages: int = 0
-  first_tile_segment: int | None = None
-
-  @property
-  def tile_loaded_any(self) -> bool:
-    return self.tile_loaded_messages > 0
-
-
-class ValidationError(Exception):
-  def __init__(self, route: RouteId, reasons: list[str]):
-    self.route = route
-    self.reasons = reasons
-    super().__init__(self._render())
-
-  def _render(self) -> str:
-    lines = [f"Validation failed for {self.route.cli_name}:"]
-    lines.extend(f"- {reason}" for reason in self.reasons)
-    return "\n".join(lines)
-
-
-REQUIRED_STREAMS = (
-  StreamSpec("qlogs", "qlog"),
-  StreamSpec("logs", "rlog"),
-  StreamSpec("cameras", "fcamera.hevc"),
-)
-
-
-def parse_args() -> argparse.Namespace:
-  argv = list(sys.argv[1:])
-  if argv and ROUTE_ID_RE.fullmatch(argv[0].lstrip("-")):
-    if argv[0].startswith("--"):
-      argv[0] = argv[0][2:]
-    argv = ["--routeid", argv[0], *argv[1:]]
-
-  parser = argparse.ArgumentParser(
-    description="Validate and bundle a public comma route for speed-limit vision review."
-  )
-  parser.add_argument("routeid_positional", nargs="?", help="Route id like 'dongle/logid' or 'dongle/logid--7'.")
-  parser.add_argument("--routeid", help="Route id like 'dongle/logid' or 'dongle/logid--7'.")
-  parser.add_argument("--desktop-root", type=Path, default=Path.home() / "Desktop", help="Destination root for the bundle folder and zip.")
-  parser.add_argument("--timeout", type=float, default=60.0, help="HTTP timeout in seconds.")
-  parser.add_argument("--overwrite", action="store_true", help="Replace an existing Desktop bundle for this route.")
-  parser.add_argument("--validate-only", action="store_true", help="Run validation only and skip downloads/zipping.")
-  args = parser.parse_args(argv)
-  args.routeid = args.routeid or args.routeid_positional
-  if not args.routeid:
-    parser.error("the following arguments are required: --routeid")
-  return args
-
-
-def parse_route_id(raw: str) -> RouteId:
-  text = raw.strip().strip("'\"").replace("|", "/")
-  match = ROUTE_ID_RE.fullmatch(text)
-  if match is None:
-    raise ValueError(f"Unrecognized route id: {raw}")
-
-  dongle_id = match.group(1)
-  tail = match.group(2)
-  parts = tail.split("--")
-  if len(parts) == 3 and parts[-1].isdigit():
-    log_id = "--".join(parts[:2])
-  else:
-    log_id = tail
-
-  if len(log_id) != 20:
-    raise ValueError(f"Invalid log id in route: {raw}")
-  return RouteId(dongle_id=dongle_id, log_id=log_id)
-
-
-def route_url(route: RouteId) -> str:
-  return f"{API_HOST}/v1/route/{quote(route.canonical_name, safe='')}/"
-
-
-def route_files_url(route: RouteId) -> str:
-  return f"{API_HOST}/v1/route/{quote(route.canonical_name, safe='')}/files"
-
-
-def format_segments(segments: list[int]) -> str:
-  if not segments:
-    return "none"
-
-  ranges: list[str] = []
-  start = prev = segments[0]
-  for segment in segments[1:]:
-    if segment == prev + 1:
-      prev = segment
-      continue
-    ranges.append(f"{start}-{prev}" if start != prev else str(start))
-    start = prev = segment
-  ranges.append(f"{start}-{prev}" if start != prev else str(start))
-  return ", ".join(ranges)
-
-
-def as_int(value: Any) -> int | None:
-  if isinstance(value, bool):
-    return int(value)
-  if isinstance(value, int):
-    return value
-  if isinstance(value, str) and value.isdigit():
-    return int(value)
-  return None
-
-
-def relative_posix(path: Path, root: Path) -> str:
-  return path.relative_to(root).as_posix()
-
-
-def fetch_json(session: requests.Session, url: str, timeout: float) -> Any:
-  response = session.get(url, timeout=timeout, allow_redirects=True)
-  response.raise_for_status()
-  return response.json()
-
-
-def fetch_bytes(session: requests.Session, url: str, timeout: float) -> bytes:
-  response = session.get(url, timeout=timeout, allow_redirects=True)
-  response.raise_for_status()
-  return response.content
-
-
-def fetch_stream_to_path(session: requests.Session, url: str, dest_path: Path, timeout: float) -> int | None:
-  dest_path.parent.mkdir(parents=True, exist_ok=True)
-
-  response = session.get(url, stream=True, timeout=timeout, allow_redirects=True)
-  response.raise_for_status()
-
-  temp_path = dest_path.with_suffix(dest_path.suffix + ".part")
-  with temp_path.open("wb") as handle:
-    for chunk in response.iter_content(chunk_size=1 << 20):
-      if chunk:
-        handle.write(chunk)
-  temp_path.replace(dest_path)
-
-  last_modified = response.headers.get("Last-Modified")
-  if not last_modified:
-    return None
-
-  epoch = int(parsedate_to_datetime(last_modified).timestamp())
-  os.utime(dest_path, (epoch, epoch))
-  return epoch
-
-
-def decompress_log_bytes(payload: bytes) -> bytes:
-  if payload[:3] == b"BZh":
-    return bz2.decompress(payload)
-  if payload[:4] == b"\x28\xb5\x2f\xfd":
-    reader = zstandard.ZstdDecompressor().stream_reader(io.BytesIO(payload))
-    try:
-      return reader.read()
-    finally:
-      reader.close()
-  return payload
-
-
-def load_init_params(qlog_bytes: bytes) -> dict[str, str]:
-  payload = decompress_log_bytes(qlog_bytes)
-  for msg in log.Event.read_multiple_bytes(payload):
-    if msg.which() != "initData":
-      continue
-
-    params: dict[str, str] = {}
-    entries = msg.initData.params.to_dict().get("entries", [])
-    for entry in entries:
-      key = entry.get("key")
-      if not key:
-        continue
-      value = entry.get("value", b"")
-      if isinstance(value, bytes):
-        value = value.decode("utf-8", "replace")
-      elif value is None:
-        value = ""
-      else:
-        value = str(value)
-      params[str(key)] = value
-    return params
-
-  raise RuntimeError("No initData params found in qlog.")
-
-
-def scan_qlogs_for_map_tiles(session: requests.Session, qlog_urls: list[str | None], timeout: float) -> MapTileSummary:
-  summary = MapTileSummary()
-  for segment, url in enumerate(qlog_urls):
-    if not isinstance(url, str) or not url:
-      continue
-
-    summary.qlogs_scanned += 1
-    payload = decompress_log_bytes(fetch_bytes(session, url, timeout))
-    for msg in log.Event.read_multiple_bytes(payload):
-      if msg.which() != "mapdOut":
-        continue
-      summary.mapd_messages += 1
-      if msg.mapdOut.tileLoaded:
-        summary.tile_loaded_messages += 1
-        if summary.first_tile_segment is None:
-          summary.first_tile_segment = segment
-    if summary.tile_loaded_any:
-      break
-  return summary
-
-
-def expected_segment_count(route_meta: dict[str, Any], files_payload: dict[str, Any]) -> int:
-  candidates: list[int] = []
-  for key in ("maxqlog", "maxlog"):
-    value = as_int(route_meta.get(key))
-    if value is not None:
-      candidates.append(value + 1)
-
-  for key in ("qlogs", "logs", "cameras"):
-    value = files_payload.get(key)
-    if isinstance(value, list):
-      candidates.append(len(value))
-
-  return max(candidates, default=0)
-
-
-def collect_missing_segments(urls: list[Any], expected_segments: int) -> list[int]:
-  missing: list[int] = []
-  for segment in range(expected_segments):
-    url = urls[segment] if segment < len(urls) else None
-    if not isinstance(url, str) or not url:
-      missing.append(segment)
-  return missing
-
-
-def first_available_url(urls: list[Any]) -> str | None:
-  for url in urls:
-    if isinstance(url, str) and url:
-      return url
-  return None
-
-
-def filename_from_url(url: str) -> str:
-  return Path(urlparse(url).path).name
-
-
-def validate_route(route: RouteId, session: requests.Session, timeout: float) -> dict[str, Any]:
-  try:
-    route_meta = fetch_json(session, route_url(route), timeout)
-  except requests.HTTPError as exc:
-    status_code = exc.response.status_code if exc.response is not None else "unknown"
-    raise ValidationError(route, [f"route is not publicly accessible from comma connect (HTTP {status_code})."]) from exc
-
-  if not route_meta.get("is_public", False):
-    raise ValidationError(route, ["route metadata loaded, but `is_public` was false."])
-
-  try:
-    files_payload = fetch_json(session, route_files_url(route), timeout)
-  except requests.HTTPError as exc:
-    status_code = exc.response.status_code if exc.response is not None else "unknown"
-    raise ValidationError(route, [f"public route files could not be fetched from comma connect (HTTP {status_code})."]) from exc
-
-  expected_segments = expected_segment_count(route_meta, files_payload)
-  if expected_segments <= 0:
-    raise ValidationError(route, ["could not determine any route segments from comma connect."])
-
-  failures: list[str] = []
-  stream_urls: dict[str, list[Any]] = {}
-  for spec in REQUIRED_STREAMS:
-    urls = files_payload.get(spec.api_key)
-    if not isinstance(urls, list):
-      urls = []
-    stream_urls[spec.api_key] = urls
-    missing_segments = collect_missing_segments(urls, expected_segments)
-    if missing_segments:
-      failures.append(f"missing uploaded {spec.display_name} files for segment(s): {format_segments(missing_segments)}.")
-
-  first_qlog_url = first_available_url(stream_urls["qlogs"])
-  params: dict[str, str] = {}
-  map_tiles = MapTileSummary()
-  if first_qlog_url is None:
-    failures.append("no qlog was available to inspect route params.")
-  else:
-    try:
-      params = load_init_params(fetch_bytes(session, first_qlog_url, timeout))
-    except Exception as exc:
-      failures.append(f"could not read `initData.params` from the first qlog: {exc}.")
-
-  if params:
-    auto_bookmark = params.get("VisionSpeedLimitAutoBookmark", "")
-    if auto_bookmark != "1":
-      failures.append(f"`VisionSpeedLimitAutoBookmark` was {auto_bookmark!r}; it must be '1'.")
-
-    vision_detection = params.get("VisionSpeedLimitDetection", "")
-    if vision_detection != "1":
-      failures.append(f"`VisionSpeedLimitDetection` was {vision_detection!r}; it must be '1' for useful vision-model collection.")
-
-    try:
-      qlog_urls = [url if isinstance(url, str) and url else None for url in stream_urls["qlogs"]]
-      map_tiles = scan_qlogs_for_map_tiles(session, qlog_urls, timeout)
-      if not map_tiles.tile_loaded_any:
-        maps_selected = params.get("MapsSelected", "")
-        if maps_selected:
-          failures.append(
-            "offline map tiles never loaded during this route even though "
-            f"`MapsSelected` was {maps_selected!r}; tell the user to download local maps for the driven area so collection trains faster."
-          )
-        else:
-          failures.append(
-            "offline map tiles never loaded during this route and `MapsSelected` was empty; "
-            "tell the user to download local maps for the driven area so collection trains faster."
-          )
-    except Exception as exc:
-      failures.append(f"could not inspect qlogs for offline map usage: {exc}.")
-
-  if failures:
-    raise ValidationError(route, failures)
-
-  return {
-    "route_meta": route_meta,
-    "files_payload": files_payload,
-    "expected_segments": expected_segments,
-    "params": params,
-    "map_tiles": map_tiles,
-  }
-
-
-def prepare_output_paths(route: RouteId, desktop_root: Path, overwrite: bool) -> tuple[Path, Path]:
-  desktop_root = desktop_root.expanduser().resolve()
-  desktop_root.mkdir(parents=True, exist_ok=True)
-
-  bundle_root = desktop_root / f"speed_limit_route_bundle_{route.safe_name}"
-  zip_path = desktop_root / f"{bundle_root.name}.zip"
-  if overwrite:
-    if bundle_root.exists():
-      shutil.rmtree(bundle_root)
-    if zip_path.exists():
-      zip_path.unlink()
-  else:
-    if bundle_root.exists():
-      raise FileExistsError(f"Bundle folder already exists: {bundle_root}")
-    if zip_path.exists():
-      raise FileExistsError(f"Bundle zip already exists: {zip_path}")
-  return bundle_root, zip_path
-
-
-def write_bundle_manifests(
-  bundle_root: Path,
-  route: RouteId,
-  validation: dict[str, Any],
-  downloaded_files: list[DownloadedFile],
-) -> None:
-  live_routes_meta = bundle_root / "live_routes_meta"
-  live_routes_meta.mkdir(parents=True, exist_ok=True)
-
-  files_txt_lines: list[str] = []
-  qlog_mtimes_lines: list[str] = []
-  for record in sorted(downloaded_files, key=lambda item: (item.segment, item.stream, item.filename)):
-    segment_name = f"{route.log_id}--{record.segment}"
-    files_txt_lines.append(f"{segment_name} {record.relative_path}")
-    if record.filename.startswith("qlog") and record.mtime_epoch is not None:
-      qlog_mtimes_lines.append(f"{record.relative_path} {record.mtime_epoch}")
-
-  (live_routes_meta / "files.txt").write_text("\n".join(files_txt_lines) + ("\n" if files_txt_lines else ""), encoding="utf-8")
-  (live_routes_meta / "qlog_mtimes.txt").write_text("\n".join(qlog_mtimes_lines) + ("\n" if qlog_mtimes_lines else ""), encoding="utf-8")
-
-  params = validation["params"]
-  route_meta = validation["route_meta"]
-  map_tiles: MapTileSummary = validation["map_tiles"]
-  manifest = {
-    "bundleCreatedAt": datetime.now(UTC).isoformat(),
-    "routeId": route.cli_name,
-    "routeFullname": route.canonical_name,
-    "expectedSegments": validation["expected_segments"],
-    "downloadedStreams": [spec.display_name for spec in REQUIRED_STREAMS],
-    "validation": {
-      "isPublic": bool(route_meta.get("is_public")),
-      "visionSpeedLimitAutoBookmark": params.get("VisionSpeedLimitAutoBookmark", ""),
-      "visionSpeedLimitDetection": params.get("VisionSpeedLimitDetection", ""),
-      "mapsSelected": params.get("MapsSelected", ""),
-      "lastMapsUpdate": params.get("LastMapsUpdate", ""),
-      "mapdMessagesScanned": map_tiles.mapd_messages,
-      "offlineTileLoaded": map_tiles.tile_loaded_any,
-      "firstTileSegment": map_tiles.first_tile_segment,
-    },
-    "routeMeta": {
-      "startTime": route_meta.get("start_time"),
-      "endTime": route_meta.get("end_time"),
-      "distance": route_meta.get("distance"),
-      "startLat": route_meta.get("start_lat"),
-      "startLng": route_meta.get("start_lng"),
-      "endLat": route_meta.get("end_lat"),
-      "endLng": route_meta.get("end_lng"),
-      "gitBranch": route_meta.get("git_branch"),
-      "gitCommit": route_meta.get("git_commit"),
-      "platform": route_meta.get("platform"),
-      "version": route_meta.get("version"),
-      "make": route_meta.get("make"),
-    },
-    "files": [
-      {
-        "segment": record.segment,
-        "stream": record.stream,
-        "filename": record.filename,
-        "relativePath": record.relative_path,
-        "mtimeEpoch": record.mtime_epoch,
-      }
-      for record in sorted(downloaded_files, key=lambda item: (item.segment, item.stream, item.filename))
-    ],
-  }
-  (bundle_root / "bundle_manifest.json").write_text(json.dumps(manifest, indent=2, sort_keys=True) + "\n", encoding="utf-8")
-
-
-def zip_bundle(bundle_root: Path, zip_path: Path) -> None:
-  with zipfile.ZipFile(zip_path, "w", compression=zipfile.ZIP_STORED) as archive:
-    for path in sorted(bundle_root.rglob("*")):
-      if path.is_file():
-        archive.write(path, arcname=Path(bundle_root.name) / path.relative_to(bundle_root))
-
-
-def download_bundle(
-  route: RouteId,
-  validation: dict[str, Any],
-  session: requests.Session,
-  desktop_root: Path,
-  timeout: float,
-  overwrite: bool,
-) -> tuple[Path, Path]:
-  bundle_root, zip_path = prepare_output_paths(route, desktop_root, overwrite)
-  clip_root = bundle_root / "data" / "media" / "0" / "realdata"
-
-  expected_segments = validation["expected_segments"]
-  files_payload = validation["files_payload"]
-  downloaded_files: list[DownloadedFile] = []
-
-  for spec in REQUIRED_STREAMS:
-    urls = files_payload.get(spec.api_key, [])
-    for segment in range(expected_segments):
-      url = urls[segment]
-      if not isinstance(url, str) or not url:
-        raise RuntimeError(f"Unexpected missing {spec.display_name} URL for segment {segment} after validation.")
-
-      filename = filename_from_url(url)
-      segment_name = f"{route.log_id}--{segment}"
-      dest_path = clip_root / segment_name / filename
-      print(f"Downloading {segment_name}/{filename}")
-      mtime_epoch = fetch_stream_to_path(session, url, dest_path, timeout)
-      downloaded_files.append(
-        DownloadedFile(
-          segment=segment,
-          stream=spec.display_name,
-          filename=filename,
-          relative_path=relative_posix(dest_path, bundle_root),
-          mtime_epoch=mtime_epoch,
-        )
-      )
-
-  write_bundle_manifests(bundle_root, route, validation, downloaded_files)
-  print(f"Creating {zip_path.name}")
-  zip_bundle(bundle_root, zip_path)
-  return bundle_root, zip_path
-
-
-def print_validation_summary(route: RouteId, validation: dict[str, Any]) -> None:
-  params = validation["params"]
-  map_tiles: MapTileSummary = validation["map_tiles"]
-  print(f"Validated {route.cli_name}")
-  print(f"  public route: yes")
-  print(f"  segments: {validation['expected_segments']}")
-  print(f"  VisionSpeedLimitDetection: {params.get('VisionSpeedLimitDetection', '')}")
-  print(f"  VisionSpeedLimitAutoBookmark: {params.get('VisionSpeedLimitAutoBookmark', '')}")
-  print(f"  MapsSelected: {params.get('MapsSelected', '') or '(empty)'}")
-  print(f"  offline tile loaded: {'yes' if map_tiles.tile_loaded_any else 'no'}")
-
-
-def main() -> int:
-  args = parse_args()
-  route = parse_route_id(args.routeid)
-
-  session = requests.Session()
-  session.headers.update({"User-Agent": "starpilot-speed-limit-route-bundler/1.0"})
-
-  try:
-    validation = validate_route(route, session, args.timeout)
-    print_validation_summary(route, validation)
-
-    if args.validate_only:
-      return 0
-
-    bundle_root, zip_path = download_bundle(route, validation, session, args.desktop_root, args.timeout, args.overwrite)
-    print(f"Bundle folder: {bundle_root}")
-    print(f"Bundle zip:    {zip_path}")
-    return 0
-  except ValidationError as exc:
-    print(str(exc), file=sys.stderr)
-    return 2
-  except FileExistsError as exc:
-    print(f"{exc}\nUse --overwrite to replace the existing Desktop bundle, or --validate-only to skip packaging.", file=sys.stderr)
-    return 3
-  except Exception as exc:
-    print(f"Error: {exc}", file=sys.stderr)
-    return 1
-
-
-if __name__ == "__main__":
-  raise SystemExit(main())

models

@@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-set -eo pipefail
-
-DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
-set +u
-source "$DIR/launch_env.sh"
-exec python3 "$DIR/scripts/model_compiler.py" "$@"

msgq_repo/.github/workflows/repo.yml

@@ -1,27 +0,0 @@
-name: repo
-
-on:
-  schedule:
-    - cron: "0 15 1 * *"
-  workflow_dispatch:
-
-jobs:
-  pre-commit-autoupdate:
-    name: pre-commit autoupdate
-    runs-on: ubuntu-latest
-    container:
-    steps:
-    - uses: actions/checkout@v3
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
-      with:
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update pre-commit hook versions
-        title: 'pre-commit: autoupdate hooks'
-        branch: pre-commit-updates
-        base: master
-        delete-branch: true

msgq_repo/.github/workflows/tests.yml

@@ -1,24 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  test:
-    name: ./test.sh
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: ['macos-latest', 'ubuntu-latest']
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-      - run: ./test.sh

msgq_repo/.gitignore

@@ -6,7 +6,6 @@ __pycache__
 .*.swo
 *.os
 *.so
-!msgq/ipc_pyx.so
 *.o
 *.a
 uv.lock
@@ -17,4 +16,4 @@ test_runner
 libmessaging.*
 libmessaging_shared.*
 .sconsign.dblite
-.mypy_cache/
+.mypy_cache/

msgq_repo/SConscript

@@ -1,48 +0,0 @@
-Import('env', 'envCython', 'arch', 'common')
-
-
-visionipc_dir = Dir('msgq/visionipc')
-gen_dir = Dir('gen')
-
-
-# Build msgq
-msgq_objects = env.SharedObject([
-  'msgq/ipc.cc',
-  'msgq/event.cc',
-  'msgq/impl_zmq.cc',
-  'msgq/impl_msgq.cc',
-  'msgq/impl_fake.cc',
-  'msgq/msgq.cc',
-])
-msgq = env.Library('msgq', msgq_objects)
-msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
-
-# Build Vision IPC
-vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
-vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
-
-if arch == "larch64":
-  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_ion.cc']
-else:
-  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_cl.cc']
-
-vipc_objects = env.SharedObject(vipc_sources)
-visionipc = env.Library('visionipc', vipc_objects)
-
-
-vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
-if arch == "Darwin":
-  vipc_frameworks.append('OpenCL')
-else:
-  vipc_libs.append('OpenCL')
-envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
-                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
-
-if GetOption('extras'):
-  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
-  env.Program(f'{visionipc_dir.abspath}/test_runner',
-             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
-              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
-
-Export('visionipc', 'msgq', 'msgq_python')

msgq_repo/SConstruct

@@ -1,98 +0,0 @@
-import os
-import platform
-import subprocess
-import sysconfig
-import numpy as np
-
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-
-cc = 'clang'
-cxx = 'clang++'
-if arch == "Darwin":
-  # Keep mac builds on Apple toolchain; Homebrew llvm can break SDK header resolution.
-  cc = '/usr/bin/clang'
-  cxx = '/usr/bin/clang++'
-
-common = ''
-
-cpppath = [
-  f"#/",
-  '#msgq/',
-  '/usr/lib/include',
-  '/opt/homebrew/include',
-  sysconfig.get_paths()['include'],
-]
-
-libpath = [
-  '/opt/homebrew/lib',
-]
-
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=True,
-          help='the minimum build. no tests, tools, etc.')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-ccflags = []
-ldflags = []
-if GetOption('ubsan'):
-  flags = [
-    "-fsanitize=undefined",
-    "-fno-sanitize-recover=undefined",
-  ]
-  ccflags += flags
-  ldflags += flags
-elif GetOption('asan'):
-  ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags += ["-fsanitize=address"]
-
-env = Environment(
-  ENV=os.environ,
-  CC=cc,
-  CXX=cxx,
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-vla-cxx-extension",
-    "-Wno-unknown-warning-option",
-  ] + ccflags,
-  LDFLAGS=ldflags,
-  LINKFLAGS=ldflags,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++1z",
-  CPPPATH=cpppath,
-  LIBPATH=libpath,
-  CYTHONCFILESUFFIX=".cpp",
-  tools=["default", "cython"]
-)
-
-Export('env', 'arch', 'common')
-
-envCython = env.Clone(LIBS=[])
-envCython["CPPPATH"] += [np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove('-Werror')
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-Export('envCython')
-
-
-SConscript(['SConscript'])

msgq_repo/msgq/impl_zmq.cc

@@ -19,17 +19,9 @@ static size_t fnv1a_hash(const std::string &str) {
     return hash_value;
 }
 
-static std::string namespaced_endpoint(std::string endpoint) {
-    const char *namespace_env = std::getenv("OPENPILOT_ZMQ_NAMESPACE");
-    if (namespace_env != nullptr && namespace_env[0] != '\0') {
-        endpoint = std::string(namespace_env) + ":" + endpoint;
-    }
-    return endpoint;
-}
-
 //FIXME: This is a hack to get the port number from the socket name, might have collisions
 static int get_port(std::string endpoint) {
-    size_t hash_value = fnv1a_hash(namespaced_endpoint(std::move(endpoint)));
+    size_t hash_value = fnv1a_hash(endpoint);
     int start_port = 8023;
     int max_port = 65535;
     int port = start_port + (hash_value % (max_port - start_port));