openpilot v0.8.13 release

This reverts commit f482354e4e2ce5d96f5b0c96f7ba923611dc199d.

.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\")"
-    ]
-  }
-}

.dockerignore

@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/

.editorconfig

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

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,47 +0,0 @@
-name: Bug report
-description: For issues with running openpilot on your comma device
-labels: ["bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
-          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/ISSUE_TEMPLATE/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

@@ -1,6 +1,4 @@
 venv/
-.venv/
-.ci_cache
 .env
 .clang-format
 .DS_Store
@@ -10,17 +8,11 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
+model2.png
 a.out
 .hypothesis
-.cache/
-.host_runtime/
-.comma_sysroot/
-.venv-linux-arm64/
-compiledmodels/
 
-/docs_site/
-
-*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -40,21 +32,37 @@ compiledmodels/
 *.class
 *.pyxbldc
 *.vcd
-*.mo
-*_pyx.cpp
-*.stats
 config.json
 clcache
 compile_commands.json
-compare_runtime*.html
 
-cereal/services.h
-cereal/gen
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/test/ae_gray_test
-selfdrive/ui/ui.macos
-selfdrive/ui/ui.larch64
+persist
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
+selfdrive/proclogd/proclogd
+selfdrive/ui/_ui
+selfdrive/test/longitudinal_maneuvers/out
+selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
+selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/
+
+one
+openpilot
+notebooks
+xx
+yy
+hyperthneed
+panda_jungle
+provisioning
 
 .coverage*
 coverage.xml
@@ -67,70 +75,11 @@ flycheck_*
 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
+selfdrive/modeld/thneed/compile
+models/*.thneed
 
-# openpilot log files
 *.bz2
-*.zst
 
 build/
 
 !**/.gitkeep
-
-poetry.toml
-Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
-# 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/**

.vscode/extensions.json

@@ -1,9 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-    "openai.chatgpt",
-  ]
-}

.vscode/launch.json

@@ -1,85 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}

.vscode/settings.json

@@ -1,27 +0,0 @@
-{
-  "editor.tabSize": 2,
-  "editor.insertSpaces": true,
-  "editor.renderWhitespace": "trailing",
-  "files.trimTrailingWhitespace": true,
-  "search.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "files.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "python.analysis.exclude": [
-    "**/.git",
-    "**/.venv",
-    "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
-  ]
-}

Dockerfile.openpilot

@@ -1,14 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -1,81 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,269 +1,243 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
+def phone(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -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'
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /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
 
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi
+
 cd ${env.TEST_DIR} || true
-time ${cmd}
+${cmd}
+exit 0
+
 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 phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
       }
     }
   }
 }
 
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
+pipeline {
+  agent none
+  environment {
+    TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
   }
-  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}"
+  options {
+      timeout(time: 4, unit: 'HOURS')
   }
 
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
+  stages {
+    stage('build releases') {
+      when {
+        branch 'devel-staging'
+      }
 
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
 
-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"),
-      ])
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $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"),
-          ])
-        },
-      )
-    }
+    stage('openpilot tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
+          }
+        }
+      }
 
-    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/"]]),
-        ])
-      },
+      stages {
+        stage('On-device Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          stages {
+            stage('parallel tests') {
+              parallel {
+                stage('C2: build') {
+                  steps {
+                    phone_steps("eon-build", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
 
-    )
+                stage('C2: replay') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
+                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
+                    ])
+                  }
+                }
+
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('C3: build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: HW + Unit Tests') {
+                  steps {
+                    phone_steps("tici2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+              }
+            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
+          }
+
+          post {
+            always {
+              cleanWs()
+            }
+          }
+
+        }
+
+      }
     }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
   }
 }
+

LICENSE-MDI

@@ -1,202 +0,0 @@
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README.md

@@ -1,79 +1,142 @@
-# StarPilot
+![](https://i.imgur.com/b0ZyIx5.jpg)
 
-[![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)
+Table of Contents
+=======================
 
-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
-an open source driver assistance system.
+* [What is openpilot?](#what-is-openpilot)
+* [Running in a car](#running-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
+* [Directory Structure](#directory-structure)
+* [Licensing](#licensing)
+
+---
+
+What is openpilot?
+------
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
+  </tr>
+</table>
 
 
-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
+Running in a car
+------
 
-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
+To use openpilot in a car, you need four things
+* This software. It's free and available right here.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
+We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 
-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
+Running on PC
+------
 
-## Documentation
+All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
 
-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
-installation guides, and software configuration.
+With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-## Features
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 
-* 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)
 
-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+Community and Contributing
+------
 
-## GM-only Features
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
 
-* 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
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
 
-## Developer Features
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-* 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
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
 
-## 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.
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
+Directory Structure
+------
+    .
+    ├── cereal              # The messaging spec and libs used for all logs
+    ├── common              # Library like functionality we've developed here
+    ├── docs                # Documentation
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN
+    ├── third_party         # External libraries
+    ├── pyextra             # Extra python packages
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts, images, and sounds for UI
+        ├── athena          # Allows communication with the app
+        ├── boardd          # Daemon to talk to the board
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── car             # Car specific code to read states and control actuators
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── logcatd         # Android logcat as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── modeld          # Driving and monitoring model runners
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
+        └── ui              # The UI
+
+Licensing
+------
+
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,314 +1,7 @@
-Version 0.10.3 (2025-12-17)
-========================
-* New driving model #36249
-  * New temporal policy architecture
-  * New on-policy training physics noise model
-* New driver monitoring model #36409
-  * Trained on a new dataset, including comma four data
-* Improved inter-process communication memory efficiency
-
-Version 0.10.2 (2025-11-19)
-========================
-* comma four support
-
-Version 0.10.1 (2025-09-08)
-========================
-* New driving model #36276
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * VAE Compression Model: new architecture and training objective
-  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
-
-Version 0.10.0 (2025-08-05)
-========================
-* New driving model
-  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
-  * Low-speed lead car ground-truth fixes
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
-
-Version 0.9.7 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-
-Version 0.9.6 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* Model path UI
-  * Shows where driving model wants to be
-  * Shows what model is seeing more clearly, but more jittery
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-
-Version 0.9.5 (2023-11-17)
-========================
-* New driving model
-  * Improved navigate on openpilot performance using navigation instructions as an additional model input
-  * Do lateral planning inside the model
-  * New vision transformer architecture
-* Cadillac Escalade ESV 2019 support thanks to twilsonco!
-* Hyundai Azera 2022 support thanks to sunnyhaibin!
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
-* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
-* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
-* Kia Optima Hybrid 2019 support
-* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
-* Lexus GS F 2016 support thanks to snyperifle!
-* Lexus IS 2023 support thanks to L3R5!
-
-Version 0.9.4 (2023-07-27)
-========================
-* comma 3X support
-* Navigate on openpilot in Experimental mode
-  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
-  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
-  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
-  * When navigate on openpilot is active, the path on the map is green
-* UI updates
-  * Navigation settings moved to home screen and map
-  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
-  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
-* Bookmarked segments are preserved on the device's storage
-* Ford Focus 2018 support
-* Kia Carnival 2023 support thanks to sunnyhaibin!
-
-Version 0.9.3 (2023-06-29)
-========================
-* New driving model
-  * Improved height estimation and added height tracking in liveCalibration
-  * Model inputs refactor
-* New driving personality setting
-  * Three settings: aggressive, standard, and relaxed
-  * Standard is recommended and the default
-  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
-  * In relaxed mode, lead follow distance is longer
-* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
-* Improved thermal management logic
-
-Version 0.9.2 (2023-05-22)
-========================
-* New driving model
-  * Reduced turn diving
-  * Trained on a new dataset
-* UI updates
-  * New experimental mode visualization
-  * Draw MPC path instead of model-predicted path
-* AGNOS 7
-  * Faster boot time
-  * Fixes rare no sounds bug
-  * Fixes bootsplash bug at extreme temperatures
-* Buick LaCrosse 2017-19 support thanks to koch-cf!
-* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
-* Ford Bronco Sport 2021-22 support
-* Ford Escape 2020-22 support
-* Ford Explorer 2020-22 support
-* Ford Kuga 2020-22 support
-* Ford Maverick 2022-23 support
-* Genesis GV80 2023 support thanks to JWingate80!
-* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
-* Kia Niro EV 2023 support thanks to JosselinLecocq!
-* Lexus ES 2017-18 support
-* Lincoln Aviator 2021 support
-* Škoda Fabia 2022-23 support thanks to jyoung8607!
-
-
-Version 0.9.1 (2023-02-28)
-========================
-* New driving model
-  * 30% improved height estimation resulting in better driving performance for tall cars
-* Driver monitoring: removed timer resetting on user interaction if distracted
-* UI updates
-  * Adjust alert volume using ambient noise level
-  * Driver monitoring icon shows driver's head pose
-  * German translation thanks to Vrabetz and CzokNorris!
-* Cadillac Escalade 2017 support thanks to rickygilleland!
-* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
-* Genesis GV60 2023 support thanks to sunnyhaibin!
-* Hyundai Tucson 2022-23 support
-* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
-* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Sorento 2022-23 support thanks to sunnyhaibin!
-* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Toyota C-HR 2021 support thanks to eFiniLan!
-* Toyota C-HR Hybrid 2022 support thanks to Korben00!
-* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
-
-Version 0.9.0 (2022-11-21)
-========================
-* New driving model
-  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
-  * Less reliance on previous frames makes model more reactive and snappy
-  * Trained in new reprojective simulator
-  * Trained in 36 hours from scratch, compared to one week for previous releases
-  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
-* Experimental driving mode
-  * End-to-end longitudinal control
-  * Stops for traffic lights and stop signs
-  * Slows down for turns
-  * openpilot defaults to chill mode, enable experimental mode in settings
-* Driver monitoring updates
-  * New bigger model with added end-to-end distracted trigger
-  * Reduced false positives during driver calibration
-* Self-tuning torque controller: learns parameters live for each car
-* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
-* UI updates
-  * Matched speeds shown on car's dash
-  * Multi-language in navigation
-  * Improved update experience
-  * Border turns grey while overriding steering
-  * Bookmark events while driving; view them in comma connect
-  * New onroad visualization for experimental mode
-* tools: new and improved cabana thanks to deanlee!
-* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
-* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
-* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
-* Kia Sportage 2023 support thanks to sunnyhaibin!
-* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Stinger 2022 support thanks to sunnyhaibin!
-
-Version 0.8.16 (2022-08-26)
-========================
-* New driving model
-  * Reduced turn cutting
-* Auto-detect right hand drive setting with driver monitoring model
-* Improved fan controller for comma three
-* New translations
-  * Japanese thanks to cydia2020!
-  * Brazilian Portuguese thanks to AlexandreSato!
-* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
-* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
-* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
-* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
-* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
-* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
-* Subaru Legacy 2020-22 support thanks to martinl!
-* Subaru Outback 2020-22 support
-
-Version 0.8.15 (2022-07-20)
-========================
-* New driving model
-  * Path planning uses end-to-end output instead of lane lines at all times
-  * Reduced ping pong
-  * Improved lane centering
-* New lateral controller based on physical wheel torque model
-  * Much smoother control that's consistent across the speed range
-  * Effective feedforward that uses road roll
-  * Simplified tuning, all car-specific parameters can be derived from data
-  * Used on select Toyota and Hyundai models at first
-  * Significantly improved control on TSS-P Prius
-* New driver monitoring model
-  * Bigger model, covering full interior view from driver camera
-  * Works with a wider variety of mounting angles
-  * 3x more unique comma three training data than previous
-* Navigation improvements
-  * Speed limits shown while navigating
-  * Faster position fix by using raw GPS measurements
-* UI updates
-  * Multilanguage support for settings and home screen
-  * New font
-  * Refreshed max speed design
-  * More consistent camera view perspective across cars
-* Reduced power usage: device runs cooler and fan spins less
-* AGNOS 5
-  * Support VSCode remote SSH target
-  * Support for delta updates to reduce data usage on future OS updates
-* Chrysler ECU firmware fingerprinting thanks to realfast!
-* Honda Civic 2022 support
-* Hyundai Tucson 2021 support thanks to bluesforte!
-* Kia EV6 2022 support
-* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
-* Ram 1500 2019-21 support thanks to realfast!
-
-Version 0.8.14 (2022-06-01)
-========================
- * New driving model
-   * Bigger model, using both of comma three's road-facing cameras
-   * Better at cut-in detection and tight turns
- * New driver monitoring model
-   * Tweaked network structure to improve output resolution for DSP
-   * Fixed bug in quantization aware training to reduce quantizing errors
-   * Resulted in 7x less MSE and no more random biases at runtime
- * Added toggle to disable disengaging on the accelerator pedal
- * comma body support
- * Audi RS3 support thanks to jyoung8607!
- * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
- * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
- * Toyota Alphard Hybrid 2021 support
- * Toyota Avalon Hybrid 2022 support
- * Toyota RAV4 2022 support
- * Toyota RAV4 Hybrid 2022 support
-
 Version 0.8.13 (2022-02-18)
 ========================
  * Improved driver monitoring
-   * Re-tuned driver pose learner for relaxed driving positions
+   * Retuned driver pose learner for relaxed driving positions
    * Added reliance on driving model to be more scene adaptive
    * Matched strictness between comma two and comma three
  * Improved performance in turns by compensating for the road bank angle
@@ -454,7 +147,7 @@ Version 0.8.4 (2021-05-17)
  * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
- * Re-tuned lateral control to be more aggressive when model is confident
+ * Retuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
  * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -619,7 +312,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliance
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 
@@ -710,7 +403,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to pandad to reduce latency
+ * Synchronize controlsd to boardd to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -1046,7 +739,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in pandad
+ * Fix ptr alignment issue in boardd
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1078,7 +771,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix pandad process priority
+ * Fix boardd process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -6,20 +6,16 @@ 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
-
+TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')
 
 AddOption('--kaitai',
           action='store_true',
@@ -33,19 +29,17 @@ 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('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
 
 AddOption('--external-sconscript',
           action='store',
@@ -53,185 +47,117 @@ AddOption('--external-sconscript',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
-AddOption('--mutation',
+AddOption('--no-thneed',
           action='store_true',
-          help='generate mutation-ready code')
+          dest='no_thneed',
+          help='avoid using thneed')
 
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
-          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":
+if 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'
+if arch == "aarch64" and TICI:
+  arch = "larch64"
+
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
-  "PYTHONPATH": ":".join([
-    Dir("#").abspath,
-    Dir("#third_party/acados").abspath,
-    Dir("#opendbc_repo").abspath,
-  ]),
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").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"
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/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 = lenv["LD_LIBRARY_PATH"].copy()
 
-rpath = []
-arch_ldflags = []
+if arch == "aarch64" or arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
 
-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 == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
 
-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"),
+    "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    "/system/comma/usr/lib",
     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"]
+  if arch == "larch64":
+    libpath += [
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu"
+    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath += ["/usr/local/lib"]
+  else:
+    rpath = []
+    libpath += [
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
+      "/system/vendor/lib64"
+    ]
+    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
 else:
   cflags = []
   cxxflags = []
   cpppath = []
-  rpath += []
 
-  # MacOS
   if arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/libyuv/{yuv_dir}/lib",
+      "/usr/local/lib",
+      "/opt/homebrew/lib",
+      "/usr/local/Homebrew/Library",
+      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
+      "/usr/local/Cellar",
       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",
+      "/opt/homebrew/include",
+      "/usr/local/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
     ]
-  # Linux
   else:
     libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
+      "#cereal",
+      "#selfdrive/common",
       "/usr/lib",
       "/usr/local/lib",
     ]
 
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#selfdrive/common").abspath
+  ]
+
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
   ldflags = ["-fsanitize=address"]
@@ -241,36 +167,31 @@ elif GetOption('ubsan'):
 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(' ')
+# Enable swaglog include in submodules
+cflags += ["-DSWAGLOG"]
+cxxflags += ["-DSWAGLOG"]
 
 env = Environment(
   ENV=lenv,
   CCFLAGS=[
-    debug_flag,
+    "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
+    "-Wno-error=unused-but-set-variable",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
@@ -279,17 +200,26 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
+    "#third_party/bzip2",
     "#third_party/libyuv/include",
+    "#third_party/openmax/include",
     "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
     "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/qrcode",
     "#third_party",
-    "#msgq",
+    "#cereal",
+    "#opendbc/can",
   ],
 
-  CC=cc,
-  CXX=cxx,
-  AR=ar,
-  RANLIB=ranlib,
+  CC='clang',
+  CXX='clang++',
   LINKFLAGS=ldflags,
 
   RPATH=rpath,
@@ -297,30 +227,25 @@ env = Environment(
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
-    "#msgq_repo",
+    "#cereal",
     "#third_party",
-    "#selfdrive/pandad",
-    "#common",
-    "#rednose/helpers",
+    "#opendbc/can",
+    "#selfdrive/boardd",
+    "#selfdrive/common",
   ],
   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"],
+  tools=["default", "cython", "compilation_db"],
 )
 
 if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
+  env['RPATHPREFIX'] = "-rpath "
 
-env.CompilationDatabase('compile_commands.json')
+if GetOption('compile_db'):
+  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'
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -334,33 +259,46 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-# Cython build environment
+SHARED = False
+
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build enviroment
 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
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
-  envCython["LINKFLAGS"] = arch_ldflags + ["-pthread", "-shared"]
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
+Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
 
 qt_libs = []
 if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
   ]
@@ -368,88 +306,44 @@ if arch == "Darwin":
   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
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
   qt_dirs = [
-    f"{qt_install_headers}",
+    f"/system/comma/usr/include/qt",
   ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
 
-  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]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/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_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
   "-DQT_WIDGETS_LIB",
   "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
   "-DQT_CORE_LIB",
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
 
 if GetOption("clazy"):
@@ -463,55 +357,88 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_gpucommon', '_gpu_libs')
 
-common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon] + _gpu_libs
 
 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})
-
+# cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
 
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
+Export('cereal', 'messaging', 'visionipc')
 
+# Build rednose library and ekf models
 
-# Build other submodules
-SConscript(['panda/SConscript'])
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
 
-# Build rednose library
+if arch not in ["aarch64", "larch64"]:
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
 SConscript(['rednose/SConscript'])
 
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
 # Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
+SConscript(['opendbc/can/SConscript'])
+
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
+  SConscript(['selfdrive/logcatd/SConscript'])
+
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

SECURITY.md

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

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/.gitignore

@@ -0,0 +1,21 @@
+gen
+node_modules
+package-lock.json
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.o
+*.a
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/
+catch2/

cereal/README.md

@@ -1,95 +0,0 @@
-# What is cereal?
-
-cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
-
-
-## Messaging Spec
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
-
-All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-### Best Practices
-
-- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
-- In the context of the message they are in, field names should be completely unambiguous.
-- All values should be easy to plot and be human-readable with minimal parsing.
-
-### Maintaining backwards-compatibility
-
-When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
-be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
-things are not. Read more details [here](https://capnproto.org/language.html).
-
-### Custom forks
-
-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
-
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
--struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
--    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
--    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
----
-
-Example
----
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```

cereal/SConscript

@@ -1,20 +1,72 @@
-Import('env', 'common', 'msgq')
+Import('env', 'envCython', 'arch', 'common')
+
+import shutil
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
+messaging_dir = Dir('messaging')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             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])
+# TODO: remove non shared cereal and messaging
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
+
+env.Library('cereal', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
+
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+messaging_objects = env.SharedObject([
+  'messaging/messaging.cc',
+  'messaging/impl_zmq.cc',
+  'messaging/impl_msgq.cc',
+  'messaging/msgq.cc',
+  'messaging/socketmaster.cc',
+])
 
-Export('cereal', 'socketmaster')
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
+Depends('messaging/bridge.cc', services_h)
+
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
+
+
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
+
+if arch in ["aarch64", "larch64"]:
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
+if arch == "Darwin":
+  del libs[libs.index('OpenCL')]
+  envCython['FRAMEWORKS'] += ['OpenCL']
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
+
+
+if GetOption('test'):
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])

cereal/__init__.py

@@ -1,11 +1,9 @@
+# pylint: skip-file
 import os
 import capnp
-from importlib.resources import as_file, files
 
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/car.capnp

@@ -0,0 +1,609 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+struct CarEvent @0x9b1657f34caf3ad3 {
+  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
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    noTarget @25;
+    radarFault @26;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+    plannerError @32;
+    joystickDebug @34;
+    steerTempUnavailableSilent @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    lowBattery @48;
+    vehicleModelInvalid @50;
+    accFaulted @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    startupNoFw @104;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+    lkasDisabled @107;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+  }
+}
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  events @13 :List(CarEvent);
+
+  # car speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user pedal only
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
+  stockAeb @30 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;
+
+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
+  # which packets this state came from
+  canMonoTimes @12: List(UInt64);
+
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+    eco @8;
+    manumatic @9;
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
+    }
+  }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2 :List(UInt64);
+
+  enum Error {
+    canError @0;
+    fault @1;
+    wrongConfig @2;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+  active @7 :Bool;
+
+  # Actuator commands as computed by controlsd
+  actuators @6 :Actuators;
+
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
+  roll @8 :Float32;
+  pitch @9 :Float32;
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+    steeringAngleDeg @3: Float32;
+
+    speed @6: Float32; # m/s
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+
+      startingDEPRECATED @3;
+    }
+
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    override @1: Bool;
+    speedOverride @2: Float32;
+    accelOverride @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+      ldw @7;
+    }
+
+    enum AudibleAlert {
+      none @0;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
+    }
+  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  enableGasInterceptor @2 :Bool;
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableApgs @6 :Bool;       # advanced parking guidance system
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
+  safetyConfigs @62 :List(SafetyConfig);
+  unsafeMode @65 :Int16;
+
+  steerMaxBP @11 :List(Float32);
+  steerMaxV @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
+  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
+  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
+  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @34 :SteerControlType;
+  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @1 :Int16;
+  }
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBoschGiraffe @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBosch @20;
+    volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    stellantis @25;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
+  }
+
+  enum Ecu {
+    eps @0;
+    esp @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableCameraDEPRECATED @4 :Bool;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+}

cereal/custom.capnp

@@ -1,404 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Car = import "car.capnp";
-
-@0xb526ba661d550a59;
-
-# custom.capnp: a home for empty structs reserved for custom forks
-# These structs are guaranteed to remain reserved and empty in mainline
-# cereal, so use these if you want custom events in your fork.
-
-# DO rename the structs
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct StarPilotCarControl @0x81c2f05a394cf4af {
-  hudControl @0 :HUDControl;
-
-  struct HUDControl {
-    audibleAlert @0 :AudibleAlert;
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-
-      # Random Events
-      angry @9;
-      continued @10;
-      dejaVu @11;
-      doc @12;
-      fart @13;
-      firefox @14;
-      goat @15;
-      hal9000 @16;
-      mail @17;
-      nessie @18;
-      noice @19;
-      startup @20;
-      thisIsFine @21;
-      uwu @22;
-    }
-  }
-}
-
-struct 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 SafetyConfig {
-    safetyParam @0 :UInt16;
-  }
-}
-
-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 StarPilotDeviceState @0xda96579883444c35 {
-  freeSpace @0 :Int16;
-  usedSpace @1 :Int16;
-}
-
-struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
-  turnDirection @0 :TurnDirection;
-
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
-}
-
-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 {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct MapdDownloadLocationDetails @0xff889853e7b0987f {
-  location @0 :Text;
-  totalFiles @1 :UInt32;
-  downloadedFiles @2 :UInt32;
-}
-
-struct MapdDownloadProgress @0xfaa35dcac85073a2 {
-  active @0 :Bool;
-  cancelled @1 :Bool;
-  totalFiles @2 :UInt32;
-  downloadedFiles @3 :UInt32;
-  locations @4 :List(Text);
-  locationDetails @5 :List(MapdDownloadLocationDetails);
-}
-
-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;
-}

cereal/legacy.capnp

@@ -559,6 +559,293 @@ struct AndroidGnss @0xdfdf30d03fc485bd {
   }
 }
 
+struct QcomGnss @0xde94674b07ae51c1 {
+  logTs @0 :UInt64;
+  union {
+    measurementReport @1 :MeasurementReport;
+    clockReport @2 :ClockReport;
+    drMeasurementReport @3 :DrMeasurementReport;
+    drSvPoly @4 :DrSvPolyReport;
+    rawLog @5 :Data;
+  }
+
+  enum MeasurementSource @0xd71a12b6faada7ee {
+    gps @0;
+    glonass @1;
+    beidou @2;
+  }
+
+  enum SVObservationState @0xe81e829a0d6c83e9 {
+    idle @0;
+    search @1;
+    searchVerify @2;
+    bitEdge @3;
+    trackVerify @4;
+    track @5;
+    restart @6;
+    dpo @7;
+    glo10msBe @8;
+    glo10msAt @9;
+  }
+
+  struct MeasurementStatus @0xe501010e1bcae83b {
+    subMillisecondIsValid @0 :Bool;
+    subBitTimeIsKnown @1 :Bool;
+    satelliteTimeIsKnown @2 :Bool;
+    bitEdgeConfirmedFromSignal @3 :Bool;
+    measuredVelocity @4 :Bool;
+    fineOrCoarseVelocity @5 :Bool;
+    lockPointValid @6 :Bool;
+    lockPointPositive @7 :Bool;
+    lastUpdateFromDifference @8 :Bool;
+    lastUpdateFromVelocityDifference @9 :Bool;
+    strongIndicationOfCrossCorelation @10 :Bool;
+    tentativeMeasurement @11 :Bool;
+    measurementNotUsable @12 :Bool;
+    sirCheckIsNeeded @13 :Bool;
+    probationMode @14 :Bool;
+
+    glonassMeanderBitEdgeValid @15 :Bool;
+    glonassTimeMarkValid @16 :Bool;
+
+    gpsRoundRobinRxDiversity @17 :Bool;
+    gpsRxDiversity @18 :Bool;
+    gpsLowBandwidthRxDiversityCombined @19 :Bool;
+    gpsHighBandwidthNu4 @20 :Bool;
+    gpsHighBandwidthNu8 @21 :Bool;
+    gpsHighBandwidthUniform @22 :Bool;
+    multipathIndicator @23 :Bool;
+
+    imdJammingIndicator @24 :Bool;
+    lteB13TxJammingIndicator @25 :Bool;
+    freshMeasurementIndicator @26 :Bool;
+
+    multipathEstimateIsValid @27 :Bool;
+    directionIsValid @28 :Bool;
+  }
+
+  struct MeasurementReport @0xf580d7d86b7b8692 {
+    source @0 :MeasurementSource;
+
+    fCount @1 :UInt32;
+
+    gpsWeek @2 :UInt16;
+    glonassCycleNumber @3 :UInt8;
+    glonassNumberOfDays @4 :UInt16;
+
+    milliseconds @5 :UInt32;
+    timeBias @6 :Float32;
+    clockTimeUncertainty @7 :Float32;
+    clockFrequencyBias @8 :Float32;
+    clockFrequencyUncertainty @9 :Float32;
+
+    sv @10 :List(SV);
+
+    struct SV @0xf10c595ae7bb2c27 {
+      svId @0 :UInt8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      gpsParityErrorCount @5 :UInt16;
+      glonassFrequencyIndex @1 :Int8;
+      glonassHemmingErrorCount @6 :UInt8;
+      filterStages @7 :UInt8;
+      carrierNoise @8 :UInt16;
+      latency @9 :Int16;
+      predetectInterval @10 :UInt8;
+      postdetections @11 :UInt16;
+
+      unfilteredMeasurementIntegral @12 :UInt32;
+      unfilteredMeasurementFraction @13 :Float32;
+      unfilteredTimeUncertainty @14 :Float32;
+      unfilteredSpeed @15 :Float32;
+      unfilteredSpeedUncertainty @16 :Float32;
+      measurementStatus @17 :MeasurementStatus;
+      multipathEstimate @18 :UInt32;
+      azimuth @19 :Float32;
+      elevation @20 :Float32;
+      carrierPhaseCyclesIntegral @21 :Int32;
+      carrierPhaseCyclesFraction @22 :UInt16;
+      fineSpeed @23 :Float32;
+      fineSpeedUncertainty @24 :Float32;
+      cycleSlipCount @25 :UInt8;
+    }
+
+  }
+
+  struct ClockReport @0xca965e4add8f4f0b {
+    hasFCount @0 :Bool;
+    fCount @1 :UInt32;
+
+    hasGpsWeek @2 :Bool;
+    gpsWeek @3 :UInt16;
+    hasGpsMilliseconds @4 :Bool;
+    gpsMilliseconds @5 :UInt32;
+    gpsTimeBias @6 :Float32;
+    gpsClockTimeUncertainty @7 :Float32;
+    gpsClockSource @8 :UInt8;
+
+    hasGlonassYear @9 :Bool;
+    glonassYear @10 :UInt8;
+    hasGlonassDay @11 :Bool;
+    glonassDay @12 :UInt16;
+    hasGlonassMilliseconds @13 :Bool;
+    glonassMilliseconds @14 :UInt32;
+    glonassTimeBias @15 :Float32;
+    glonassClockTimeUncertainty @16 :Float32;
+    glonassClockSource @17 :UInt8;
+
+    bdsWeek @18 :UInt16;
+    bdsMilliseconds @19 :UInt32;
+    bdsTimeBias @20 :Float32;
+    bdsClockTimeUncertainty @21 :Float32;
+    bdsClockSource @22 :UInt8;
+
+    galWeek @23 :UInt16;
+    galMilliseconds @24 :UInt32;
+    galTimeBias @25 :Float32;
+    galClockTimeUncertainty @26 :Float32;
+    galClockSource @27 :UInt8;
+
+    clockFrequencyBias @28 :Float32;
+    clockFrequencyUncertainty @29 :Float32;
+    frequencySource @30 :UInt8;
+    gpsLeapSeconds @31 :UInt8;
+    gpsLeapSecondsUncertainty @32 :UInt8;
+    gpsLeapSecondsSource @33 :UInt8;
+
+    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
+    gpsToBdsTimeBiasMilliseconds @36 :Float32;
+    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
+    bdsToGloTimeBiasMilliseconds @38 :Float32;
+    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
+    gpsToGalTimeBiasMilliseconds @40 :Float32;
+    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
+    galToGloTimeBiasMilliseconds @42 :Float32;
+    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
+    galToBdsTimeBiasMilliseconds @44 :Float32;
+    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
+
+    hasRtcTime @46 :Bool;
+    systemRtcTime @47 :UInt32;
+    fCountOffset @48 :UInt32;
+    lpmRtcCount @49 :UInt32;
+    clockResets @50 :UInt32;
+  }
+
+  struct DrMeasurementReport @0x8053c39445c6c75c {
+
+    reason @0 :UInt8;
+    seqNum @1 :UInt8;
+    seqMax @2 :UInt8;
+    rfLoss @3 :UInt16;
+
+    systemRtcValid @4 :Bool;
+    fCount @5 :UInt32;
+    clockResets @6 :UInt32;
+    systemRtcTime @7 :UInt64;
+
+    gpsLeapSeconds @8 :UInt8;
+    gpsLeapSecondsUncertainty @9 :UInt8;
+    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
+
+    gpsWeek @12 :UInt16;
+    gpsMilliseconds @13 :UInt32;
+    gpsTimeBiasMs @14 :UInt32;
+    gpsClockTimeUncertaintyMs @15 :UInt32;
+    gpsClockSource @16 :UInt8;
+
+    glonassClockSource @17 :UInt8;
+    glonassYear @18 :UInt8;
+    glonassDay @19 :UInt16;
+    glonassMilliseconds @20 :UInt32;
+    glonassTimeBias @21 :Float32;
+    glonassClockTimeUncertainty @22 :Float32;
+
+    clockFrequencyBias @23 :Float32;
+    clockFrequencyUncertainty @24 :Float32;
+    frequencySource @25 :UInt8;
+
+    source @26 :MeasurementSource;
+
+    sv @27 :List(SV);
+
+    struct SV @0xf08b81df8cbf459c {
+      svId @0 :UInt8;
+      glonassFrequencyIndex @1 :Int8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      filterStages @5 :UInt8;
+      predetectInterval @6 :UInt8;
+      cycleSlipCount @7 :UInt8;
+      postdetections @8 :UInt16;
+
+      measurementStatus @9 :MeasurementStatus;
+
+      carrierNoise @10 :UInt16;
+      rfLoss @11 :UInt16;
+      latency @12 :Int16;
+
+      filteredMeasurementFraction @13 :Float32;
+      filteredMeasurementIntegral @14 :UInt32;
+      filteredTimeUncertainty @15 :Float32;
+      filteredSpeed @16 :Float32;
+      filteredSpeedUncertainty @17 :Float32;
+
+      unfilteredMeasurementFraction @18 :Float32;
+      unfilteredMeasurementIntegral @19 :UInt32;
+      unfilteredTimeUncertainty @20 :Float32;
+      unfilteredSpeed @21 :Float32;
+      unfilteredSpeedUncertainty @22 :Float32;
+
+      multipathEstimate @23 :UInt32;
+      azimuth @24 :Float32;
+      elevation @25 :Float32;
+      dopplerAcceleration @26 :Float32;
+      fineSpeed @27 :Float32;
+      fineSpeedUncertainty @28 :Float32;
+
+      carrierPhase @29 :Float64;
+      fCount @30 :UInt32;
+
+      parityErrorCount @31 :UInt16;
+      goodParity @32 :Bool;
+    }
+  }
+
+  struct DrSvPolyReport @0xb1fb80811a673270 {
+    svId @0 :UInt16;
+    frequencyIndex @1 :Int8;
+
+    hasPosition @2 :Bool;
+    hasIono @3 :Bool;
+    hasTropo @4 :Bool;
+    hasElevation @5 :Bool;
+    polyFromXtra @6 :Bool;
+    hasSbasIono @7 :Bool;
+
+    iode @8 :UInt16;
+    t0 @9 :Float64;
+    xyz0 @10 :List(Float64);
+    xyzN @11 :List(Float64);
+    other @12 :List(Float32);
+
+    positionUncertainty @13 :Float32;
+    ionoDelay @14 :Float32;
+    ionoDot @15 :Float32;
+    sbasIonoDelay @16 :Float32;
+    sbasIonoDot @17 :Float32;
+    tropoDelay @18 :Float32;
+    elevation @19 :Float32;
+    elevationDot @20 :Float32;
+    elevationUncertainty @21 :Float32;
+    velocityCoeff @22 :List(Float64);
+  }
+}
+
 struct LidarPts @0xe3d6685d4e9d8f7a {
   r @0 :List(UInt16);        # uint16   m*500.0
   theta @1 :List(UInt16);    # uint16 deg*100.0

cereal/logger/logger.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef SWAGLOG
+#include "selfdrive/common/swaglog.h"
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif

cereal/messaging/.gitignore

@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/

cereal/messaging/__init__.py

@@ -1,53 +1,39 @@
-# must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, drain_sock_raw
-import msgq
-
+# must be build with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import os
 import capnp
-import time
 
-from typing import Optional, List, Union, Dict
+from typing import Optional, List, Union
+from collections import deque
 
 from cereal import log
-from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from cereal.services import service_list
+
+assert MultiplePublishersError
+assert MessagingError
 
 NO_TRAVERSAL_LIMIT = 2**64-1
+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
 
+# sec_since_boot is faster, but allow to run standalone too
+try:
+  from common.realtime import sec_since_boot
+except ImportError:
+  import time
+  sec_since_boot = time.time
+  print("Warning, using python time.time() instead of faster sec_since_boot")
 
-def pub_sock(endpoint: str) -> PubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.pub_sock(endpoint, segment_size)
+context = Context()
 
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
-                       timeout=timeout, segment_size=segment_size)
-
-
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
-    return msg
-
-
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
+  dat = log.Event.new_message()
+  dat.logMonoTime = int(sec_since_boot() * 1e9)
+  dat.valid = True
   if service is not None:
     if size is None:
       dat.init(service)
@@ -55,49 +41,91 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
       dat.init(service, size)
   return dat
 
+def pub_sock(endpoint: str) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret
 
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:  # Timeout hit
+      break
+
+    dat = log_from_bytes(dat)
+    ret.append(dat)
+
+  return ret
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
   while 1:
     if wait and dat is None:
-      recv = sock.receive()
+      rcv = sock.receive()
     else:
-      recv = sock.receive(non_blocking=True)
+      rcv = sock.receive(non_blocking=True)
 
-    if recv is None:  # Timeout hit
+    if rcv is None:  # Timeout hit
       break
 
-    dat = recv
+    dat = rcv
 
   if dat is not None:
     dat = log_from_bytes(dat)
 
   return dat
 
-
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
-
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
-
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   """Keep receiving until we get a message"""
   while True:
@@ -105,109 +133,48 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
     if dat is not None:
       return log_from_bytes(dat)
 
-
-class FrequencyTracker:
-  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
-    freq = max(min(service_freq, update_freq), 1.)
-    if is_poll:
-      min_freq = max_freq = freq
-    else:
-      max_freq = min(freq, update_freq)
-      if service_freq >= 2 * update_freq:
-        min_freq = update_freq
-      elif update_freq >= 2* service_freq:
-        min_freq = freq
-      else:
-        min_freq = min(freq, freq / 2.)
-
-    self.min_freq = min_freq * 0.8
-    self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
-    self.prev_time = 0.0
-
-  def record_recv_time(self, cur_time: float) -> None:
-    # TODO: Handle case where cur_time is less than prev_time
-    if self.prev_time > 1e-5:
-      dt = cur_time - self.prev_time
-
-      self.avg_dt.add_value(dt)
-      self.recent_avg_dt.add_value(dt)
-
-    self.prev_time = cur_time
-
-  @property
-  def valid(self) -> bool:
-    if self.avg_dt.count == 0:
-      return False
-
-    avg_freq = 1.0 / self.avg_dt.get_average()
-    if self.min_freq <= avg_freq <= self.max_freq:
-      return True
-
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
-    return self.min_freq <= avg_freq_recent <= self.max_freq
-
-
-class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
+class SubMaster():
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               addr: str = "127.0.0.1"):
     self.frame = -1
-    self.services = services
-    self.seen = {s: False for s in services}
     self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
     self.sock = {}
+    self.freq = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.valid = {}
+    self.logMonoTime = {}
 
-    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
-    self.alive = {s: on_demand[s] for s in services}
-    self.freq_ok = {s: on_demand[s] for s in services}
-    self.valid = {s: on_demand[s] for s in services}
-
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]
 
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
-
-    # if freq and poll aren't specified, assume the max to be conservative
-    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
-    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
 
     for s in services:
-      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      if addr is not None:
+        p = self.poller if s not in self.non_polled_services else None
+        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      self.freq[s] = service_list[s].frequency
 
       try:
         data = new_message(s)
-      except capnp.lib.capnp.KjException:
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
         data = new_message(s, 0) # lists
 
-      self.data[s] = getattr(data.as_reader(), s)
-      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
-
-    # StarPilot variables
-    self.addr = addr
-    self.poll = poll
+      self.data[s] = getattr(data, s)
+      self.logMonoTime[s] = 0
+      self.valid[s] = data.valid
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
-  def _check_avg_freq(self, s: str) -> bool:
-    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
-
-  def update(self, timeout: int = 100) -> None:
+  def update(self, timeout: int = 1000) -> None:
     msgs = []
     for sock in self.poller.poll(timeout):
       msgs.append(recv_one_or_none(sock))
@@ -215,57 +182,61 @@ class SubMaster:
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(time.monotonic(), msgs)
+    self.update_msgs(sec_since_boot(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
-    self.updated = dict.fromkeys(self.services, False)
+    self.updated = dict.fromkeys(self.updated, False)
     for msg in msgs:
       if msg is None:
         continue
 
       s = msg.which()
-      self.seen[s] = True
       self.updated[s] = True
 
-      self.freq_tracker[s].record_recv_time(cur_time)
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
+      self.rcv_time[s] = cur_time
+      self.rcv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.static_freq_services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
+      if SIMULATION:
+        self.alive[s] = True
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
+  def all_alive(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
-    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
+  def all_valid(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.valid.keys()
+    return all(self.valid[s] for s in service_list)
 
-  # 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,
-    )
+  def all_alive_and_valid(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
 
-
-class PubMaster:
+class PubMaster():
   def __init__(self, services: List[str]):
     self.sock = {}
     for s in services:
@@ -276,19 +247,5 @@ class PubMaster:
       dat = dat.to_bytes()
     self.sock[s].send(dat)
 
-  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
-
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
-
-  # 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
+    return self.sock[s].all_readers_updated()

cereal/messaging/bridge.cc

@@ -1,17 +1,27 @@
+#include <algorithm>
 #include <cassert>
+#include <csignal>
+#include <iostream>
+#include <map>
+#include <string>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
-#include "common/util.h"
+typedef void (*sighandler_t)(int sig);
 
-ExitHandler do_exit;
+#include "impl_msgq.h"
+#include "impl_zmq.h"
+#include "services.h"
 
-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
+void sigpipe_handler(int sig) {
+  assert(sig == SIGPIPE);
+  std::cout << "SIGPIPE received" << std::endl;
+}
+
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
-    std::string name = it.second.name;
+    std::string name = it.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
       continue;
     }
     service_list.push_back(name);
@@ -19,53 +29,51 @@ static std::vector<std::string> get_services(const std::string &whitelist_str, b
   return service_list;
 }
 
-void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  MsgqToZmq bridge;
-  bridge.run(endpoints, ip);
-}
+int main(int argc, char** argv) {
+  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
 
-void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  bool zmq_to_msgq = argc > 2;
+  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
 
-  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
-    sub_sock->connect(sub_context.get(), endpoint, ip, false);
+  Poller *poller;
+  Context *pub_context;
+  Context *sub_context;
+  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
+    poller = new ZMQPoller();
+    pub_context = new MSGQContext();
+    sub_context = new ZMQContext();
+  } else {
+    poller = new MSGQPoller();
+    pub_context = new ZMQContext();
+    sub_context = new MSGQContext();
+  }
+
+  std::map<SubSocket*, PubSocket*> sub2pub;
+  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
+    PubSocket * pub_sock;
+    SubSocket * sub_sock;
+    if (zmq_to_msgq) {
+      pub_sock = new MSGQPubSocket();
+      sub_sock = new ZMQSubSocket();
+    } else {
+      pub_sock = new ZMQPubSocket();
+      sub_sock = new MSGQSubSocket();
+    }
+    pub_sock->connect(pub_context, endpoint);
+    sub_sock->connect(sub_context, endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
     sub2pub[sub_sock] = pub_sock;
   }
 
-  while (!do_exit) {
+  while (true) {
     for (auto sub_sock : poller->poll(100)) {
-      std::unique_ptr<Message> msg(sub_sock->receive(true));
-      if (msg) {
-        sub2pub[sub_sock]->sendMessage(msg.get());
-      }
+      Message * msg = sub_sock->receive();
+      if (msg == NULL) continue;
+      sub2pub[sub_sock]->sendMessage(msg);
+      delete msg;
     }
   }
-
-  // Clean up allocated sockets
-  for (auto &[sub_sock, pub_sock] : sub2pub) {
-    delete sub_sock;
-    delete pub_sock;
-  }
-}
-
-int main(int argc, char **argv) {
-  bool is_zmq_to_msgq = argc > 2;
-  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
-  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
-
-  if (is_zmq_to_msgq) {
-    zmq_to_msgq(endpoints, ip);
-  } else {
-    msgq_to_zmq(endpoints, ip);
-  }
   return 0;
 }

cereal/messaging/impl_msgq.cc

@@ -0,0 +1,230 @@
+#include <cassert>
+#include <cstring>
+#include <iostream>
+#include <cstdlib>
+#include <csignal>
+#include <cerrno>
+
+#include "services.h"
+#include "impl_msgq.h"
+
+
+volatile sig_atomic_t msgq_do_exit = 0;
+
+void sig_handler(int signal) {
+  assert(signal == SIGINT || signal == SIGTERM);
+  msgq_do_exit = 1;
+}
+
+static bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}
+
+static size_t get_size(std::string endpoint){
+  size_t sz = DEFAULT_SEGMENT_SIZE;
+
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
+    sz *= 10;
+  }
+
+  return sz;
+}
+
+
+MSGQContext::MSGQContext() {
+}
+
+MSGQContext::~MSGQContext() {
+}
+
+void MSGQMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void MSGQMessage::init(char * d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void MSGQMessage::takeOwnership(char * d, size_t sz) {
+  size = sz;
+  data = d;
+}
+
+void MSGQMessage::close() {
+  if (size > 0){
+    delete[] data;
+  }
+  size = 0;
+}
+
+MSGQMessage::~MSGQMessage() {
+  this->close();
+}
+
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
+  assert(context);
+  assert(address == "127.0.0.1");
+
+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
+  q = new msgq_queue_t;
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
+  if (r != 0){
+    return r;
+  }
+
+  msgq_init_subscriber(q);
+
+  if (conflate){
+    q->read_conflate = true;
+  }
+
+  timeout = -1;
+
+  return 0;
+}
+
+
+Message * MSGQSubSocket::receive(bool non_blocking){
+  msgq_do_exit = 0;
+
+  void (*prev_handler_sigint)(int);
+  void (*prev_handler_sigterm)(int);
+  if (!non_blocking){
+    prev_handler_sigint = std::signal(SIGINT, sig_handler);
+    prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
+  }
+
+  msgq_msg_t msg;
+
+  MSGQMessage *r = NULL;
+
+  int rc = msgq_msg_recv(&msg, q);
+
+  // Hack to implement blocking read with a poller. Don't use this
+  while (!non_blocking && rc == 0 && msgq_do_exit == 0){
+    msgq_pollitem_t items[1];
+    items[0].q = q;
+
+    int t = (timeout != -1) ? timeout : 100;
+
+    int n = msgq_poll(items, 1, t);
+    rc = msgq_msg_recv(&msg, q);
+
+    // The poll indicated a message was ready, but the receive failed. Try again
+    if (n == 1 && rc == 0){
+      continue;
+    }
+
+    if (timeout != -1){
+      break;
+    }
+  }
+
+
+  if (!non_blocking){
+    std::signal(SIGINT, prev_handler_sigint);
+    std::signal(SIGTERM, prev_handler_sigterm);
+  }
+
+  errno = msgq_do_exit ? EINTR : 0;
+
+  if (rc > 0){
+    if (msgq_do_exit){
+      msgq_msg_close(&msg); // Free unused message on exit
+    } else {
+      r = new MSGQMessage;
+      r->takeOwnership(msg.data, msg.size);
+    }
+  }
+
+  return (Message*)r;
+}
+
+void MSGQSubSocket::setTimeout(int t){
+  timeout = t;
+}
+
+MSGQSubSocket::~MSGQSubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
+  assert(context);
+
+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
+  q = new msgq_queue_t;
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
+  if (r != 0){
+    return r;
+  }
+
+  msgq_init_publisher(q);
+
+  return 0;
+}
+
+int MSGQPubSocket::sendMessage(Message *message){
+  msgq_msg_t msg;
+  msg.data = message->getData();
+  msg.size = message->getSize();
+
+  return msgq_msg_send(&msg, q);
+}
+
+int MSGQPubSocket::send(char *data, size_t size){
+  msgq_msg_t msg;
+  msg.data = data;
+  msg.size = size;
+
+  return msgq_msg_send(&msg, q);
+}
+
+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
+MSGQPubSocket::~MSGQPubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+
+void MSGQPoller::registerSocket(SubSocket * socket){
+  assert(num_polls + 1 < MAX_POLLERS);
+  polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<SubSocket*> MSGQPoller::poll(int timeout){
+  std::vector<SubSocket*> r;
+
+  msgq_poll(polls, num_polls, timeout);
+  for (size_t i = 0; i < num_polls; i++){
+    if (polls[i].revents){
+      r.push_back(sockets[i]);
+    }
+  }
+
+  return r;
+}

cereal/messaging/impl_msgq.h

@@ -1,10 +1,8 @@
 #pragma once
-
+#include "messaging.h"
+#include "msgq.h"
+#include <zmq.h>
 #include <string>
-#include <vector>
-
-#include "msgq/ipc.h"
-#include "msgq/msgq.h"
 
 #define MAX_POLLERS 128
 
@@ -36,7 +34,7 @@ private:
   msgq_queue_t * q = NULL;
   int timeout;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
   void setTimeout(int timeout);
   void * getRawSocket() {return (void*)q;}
   Message *receive(bool non_blocking=false);
@@ -47,7 +45,7 @@ class MSGQPubSocket : public PubSocket {
 private:
   msgq_queue_t * q = NULL;
 public:
-  int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);
   int send(char *data, size_t size);
   bool all_readers_updated();
@@ -63,5 +61,5 @@ private:
 public:
   void registerSocket(SubSocket *socket);
   std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){}
+  ~MSGQPoller(){};
 };

cereal/messaging/impl_zmq.cc

@@ -0,0 +1,168 @@
+#include <cassert>
+#include <cstring>
+#include <iostream>
+#include <cstdlib>
+#include <cerrno>
+
+#include <zmq.h>
+
+#include "services.h"
+#include "impl_zmq.h"
+
+static int get_port(std::string endpoint) {
+  int port = -1;
+  for (const auto& it : services) {
+    std::string name = it.name;
+    if (name == endpoint) {
+      port = it.port;
+      break;
+    }
+  }
+
+  assert(port >= 0);
+  return port;
+}
+
+ZMQContext::ZMQContext() {
+  context = zmq_ctx_new();
+}
+
+ZMQContext::~ZMQContext() {
+  zmq_ctx_term(context);
+}
+
+void ZMQMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void ZMQMessage::init(char * d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void ZMQMessage::close() {
+  if (size > 0){
+    delete[] data;
+  }
+  size = 0;
+}
+
+ZMQMessage::~ZMQMessage() {
+  this->close();
+}
+
+
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == NULL){
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate){
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+
+Message * ZMQSubSocket::receive(bool non_blocking){
+  zmq_msg_t msg;
+  assert(zmq_msg_init(&msg) == 0);
+
+  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+  int rc = zmq_msg_recv(&msg, sock, flags);
+  Message *r = NULL;
+
+  if (rc >= 0){
+    // Make a copy to ensure the data is aligned
+    r = new ZMQMessage;
+    r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return r;
+}
+
+void ZMQSubSocket::setTimeout(int timeout){
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+ZMQSubSocket::~ZMQSubSocket(){
+  zmq_close(sock);
+}
+
+int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == NULL){
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int ZMQPubSocket::sendMessage(Message *message){
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int ZMQPubSocket::send(char *data, size_t size){
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
+ZMQPubSocket::~ZMQPubSocket(){
+  zmq_close(sock);
+}
+
+
+void ZMQPoller::registerSocket(SubSocket * socket){
+  assert(num_polls + 1 < MAX_POLLERS);
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<SubSocket*> ZMQPoller::poll(int timeout){
+  std::vector<SubSocket*> r;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0){
+    return r;
+  }
+
+  for (size_t i = 0; i < num_polls; i++){
+    if (polls[i].revents){
+      r.push_back(sockets[i]);
+    }
+  }
+
+  return r;
+}

cereal/messaging/impl_zmq.h

@@ -1,10 +1,7 @@
 #pragma once
-
+#include "messaging.h"
 #include <zmq.h>
 #include <string>
-#include <vector>
-
-#include "msgq/ipc.h"
 
 #define MAX_POLLERS 128
 
@@ -35,7 +32,7 @@ private:
   void * sock;
   std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
   void setTimeout(int timeout);
   void * getRawSocket() {return sock;}
   Message *receive(bool non_blocking=false);
@@ -46,9 +43,8 @@ class ZMQPubSocket : public PubSocket {
 private:
   void * sock;
   std::string full_endpoint;
-  int pid = -1;
 public:
-  int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);
   int send(char *data, size_t size);
   bool all_readers_updated();
@@ -64,5 +60,5 @@ private:
 public:
   void registerSocket(SubSocket *socket);
   std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){}
+  ~ZMQPoller(){};
 };

cereal/messaging/messaging.cc

@@ -0,0 +1,103 @@
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"
+
+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
+bool messaging_use_zmq(){
+  return std::getenv("ZMQ") || MUST_USE_ZMQ;
+}
+
+Context * Context::create(){
+  Context * c;
+  if (messaging_use_zmq()){
+    c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
+  }
+  return c;
+}
+
+SubSocket * SubSocket::create(){
+  SubSocket * s;
+  if (messaging_use_zmq()){
+    s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
+  }
+  return s;
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+PubSocket * PubSocket::create(){
+  PubSocket * s;
+  if (messaging_use_zmq()){
+    s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
+  }
+  return s;
+}
+
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
+  PubSocket *s = PubSocket::create();
+  int r = s->connect(context, endpoint, check_endpoint);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+Poller * Poller::create(){
+  Poller * p;
+  if (messaging_use_zmq()){
+    p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
+  }
+  return p;
+}
+
+Poller * Poller::create(std::vector<SubSocket*> sockets){
+  Poller * p = Poller::create();
+
+  for (auto s : sockets){
+    p->registerSocket(s);
+  }
+  return p;
+}
+
+extern "C" Context * messaging_context_create() {
+  return Context::create();
+}
+
+extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
+  return SubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
+  return PubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
+  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
+  return Poller::create(socketsVec);
+}

cereal/messaging/messaging.h

@@ -1,20 +1,72 @@
 #pragma once
-
 #include <cstddef>
 #include <map>
 #include <string>
 #include <vector>
-#include <utility>
-
 #include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"
 
-#include "cereal/gen/cpp/log.capnp.h"
-#include "common/timing.h"
-#include "msgq/ipc.h"
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+bool messaging_use_zmq();
+
+class Context {
+public:
+  virtual void * getRawContext() = 0;
+  static Context * create();
+  virtual ~Context(){};
+};
+
+class Message {
+public:
+  virtual void init(size_t size) = 0;
+  virtual void init(char * data, size_t size) = 0;
+  virtual void close() = 0;
+  virtual size_t getSize() = 0;
+  virtual char * getData() = 0;
+  virtual ~Message(){};
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  virtual void * getRawSocket() = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
+  virtual ~SubSocket(){};
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
+  virtual ~PubSocket(){};
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){};
+};
 
 class SubMaster {
 public:
-  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
+  SubMaster(const std::vector<const char *> &service_list,
             const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
   void update(int timeout = 1000);
   void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
@@ -46,7 +98,10 @@ public:
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
     event.setValid(valid);
     return event;
   }
@@ -56,18 +111,6 @@ public:
     return heapArray_.asBytes();
   }
 
-  size_t getSerializedSize() {
-    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
-  }
-
-  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
-    size_t serialized_size = getSerializedSize();
-    if (serialized_size > buffer_size) { return -1; }
-    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
-    capnp::writeMessage(out, *this);
-    return serialized_size;
-  }
-
 private:
   kj::Array<capnp::word> heapArray_;
 };

cereal/messaging/messaging.pxd

@@ -0,0 +1,40 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+
+
+cdef extern from "messaging.h":
+  cdef cppclass Context:
+    @staticmethod
+    Context * create()
+
+  cdef cppclass Message:
+    void init(size_t)
+    void init(char *, size_t)
+    void close()
+    size_t getSize()
+    char *getData()
+
+  cdef cppclass SubSocket:
+    @staticmethod
+    SubSocket * create()
+    int connect(Context *, string, string, bool)
+    Message * receive(bool)
+    void setTimeout(int)
+
+  cdef cppclass PubSocket:
+    @staticmethod
+    PubSocket * create()
+    int connect(Context *, string)
+    int sendMessage(Message *)
+    int send(char *, size_t)
+    bool all_readers_updated()
+
+  cdef cppclass Poller:
+    @staticmethod
+    Poller * create()
+    void registerSocket(SubSocket *)
+    vector[SubSocket*] poll(int) nogil

cereal/messaging/messaging_pyx.pyx

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

cereal/messaging/msgq.cc

@@ -9,8 +9,6 @@
 #include <cstdlib>
 #include <csignal>
 #include <random>
-#include <string>
-#include <limits>
 
 #include <poll.h>
 #include <sys/ioctl.h>
@@ -23,7 +21,7 @@
 
 #include <stdio.h>
 
-#include "msgq/msgq.h"
+#include "msgq.h"
 
 void sigusr2_handler(int signal) {
   assert(signal == SIGUSR2);
@@ -31,7 +29,7 @@ void sigusr2_handler(int signal) {
 
 uint64_t msgq_get_uid(void){
   std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0, std::numeric_limits<uint32_t>::max());
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
 
   #ifdef __APPLE__
     // TODO: this doesn't work
@@ -77,49 +75,41 @@ void msgq_reset_reader(msgq_queue_t * q){
 
 void msgq_wait_for_subscriber(msgq_queue_t *q){
   while (*q->num_readers == 0){
-    // wait for subscriber
+    ;
   }
 
   return;
 }
 
+
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
   std::signal(SIGUSR2, sigusr2_handler);
 
-  std::string full_path = "/dev/shm/msgq_";
-  const char* prefix = std::getenv("OPENPILOT_PREFIX");
-  if (prefix) {
-    full_path += std::string(prefix) + "/";
-  }
-  full_path += path;
+  const char * prefix = "/dev/shm/";
+  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
+  strcpy(full_path, prefix);
+  strcat(full_path, path);
 
-  auto fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
+  auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
   if (fd < 0) {
     std::cout << "Warning, could not open: " << full_path << std::endl;
+    delete[] full_path;
     return -1;
   }
+  delete[] full_path;
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
   if (rc < 0){
     close(fd);
     return -1;
   }
-
-  int mmap_flags = MAP_SHARED;
-#ifdef MAP_POPULATE
-  if (std::getenv("MSGQ_PREALLOC")) {
-    mmap_flags |= MAP_POPULATE;
-  }
-#endif
-
-  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, mmap_flags, fd, 0);
+  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
   close(fd);
 
-  if (mem == MAP_FAILED){
+  if (mem == NULL){
     return -1;
   }
-
   q->mmap_p = mem;
 
   msgq_header_t *header = (msgq_header_t *)mem;
@@ -189,7 +179,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
 
     // No more slots available. Reset all subscribers to kick out inactive ones
     if (new_num_readers > NUM_READERS){
-      //std::cout << "Warning, evicting all subscribers!" << std::endl;
+      std::cout << "Warning, evicting all subscribers!" << std::endl;
       *q->num_readers = 0;
 
       for (size_t i = 0; i < NUM_READERS; i++){
@@ -317,7 +307,7 @@ int msgq_msg_ready(msgq_queue_t * q){
   assert(id >= 0); // Make sure subscriber is initialized
 
   if (q->read_uid_local != *q->read_uids[id]){
-    //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
     msgq_init_subscriber(q);
     goto start;
   }
@@ -330,11 +320,9 @@ int msgq_msg_ready(msgq_queue_t * q){
 
   uint32_t read_cycles, read_pointer;
   UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-  UNUSED(read_cycles);
 
   uint32_t write_cycles, write_pointer;
   UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-  UNUSED(write_cycles);
 
   // Check if new message is available
   return (read_pointer != write_pointer);
@@ -346,7 +334,7 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
   assert(id >= 0); // Make sure subscriber is initialized
 
   if (q->read_uid_local != *q->read_uids[id]){
-    //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
     msgq_init_subscriber(q);
     goto start;
   }
@@ -362,7 +350,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
 
   uint32_t write_cycles, write_pointer;
   UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-  UNUSED(write_cycles);
 
   char * p = q->data + read_pointer;
 

cereal/messaging/msgq.h

@@ -1,17 +1,15 @@
 #pragma once
-
 #include <cstdint>
 #include <cstring>
 #include <string>
 #include <atomic>
 
-#define DEFAULT_SEGMENT_SIZE (1 * 1024 * 1024)
-#define NUM_READERS 15
+#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)
 
-#define UNUSED(x) (void)x
 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
 
 struct  msgq_header_t {
   uint64_t num_readers;

cereal/messaging/msgq_to_zmq.cc

@@ -1,144 +0,0 @@
-#include "cereal/messaging/msgq_to_zmq.h"
-
-#include <cassert>
-
-#include "common/util.h"
-
-extern ExitHandler do_exit;
-
-// Max messages to process per socket per poll
-constexpr int MAX_MESSAGES_PER_SOCKET = 50;
-
-static std::string recv_zmq_msg(void *sock) {
-  zmq_msg_t msg;
-  zmq_msg_init(&msg);
-  std::string ret;
-  if (zmq_msg_recv(&msg, sock, 0) > 0) {
-    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
-
-  // Create ZMQPubSockets for each endpoint
-  for (const auto &endpoint : endpoints) {
-    auto &socket_pair = socket_pairs.emplace_back();
-    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
-    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
-    if (ret != 0) {
-      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
-      return;
-    }
-  }
-
-  // Start ZMQ monitoring thread to monitor socket events
-  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
-
-  // Main loop for processing messages
-  while (!do_exit) {
-    {
-      std::unique_lock lk(mutex);
-      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
-      if (do_exit) break;
-
-      for (auto sub_sock : msgq_poller->poll(100)) {
-        // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
-        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
-          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
-          if (!msg) break;
-
-          while (pub_sock->sendMessage(msg.get()) == -1) {
-            if (errno != EINTR) break;
-          }
-        }
-      }
-    }
-    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
-  }
-
-  thread.join();
-}
-
-void MsgqToZmq::zmqMonitorThread() {
-  std::vector<zmq_pollitem_t> pollitems;
-
-  // Set up ZMQ monitor for each pub socket
-  for (int i = 0; i < socket_pairs.size(); ++i) {
-    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
-
-    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
-    zmq_connect(monitor_socket, addr.c_str());
-    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
-  }
-
-  while (!do_exit) {
-    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
-    if (ret < 0) {
-      if (errno == EINTR) {
-        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
-        // to reduce CPU usage during retry attempts.
-        util::sleep_for(200);
-      }
-      continue;
-    }
-
-    for (int i = 0; i < pollitems.size(); ++i) {
-      if (pollitems[i].revents & ZMQ_POLLIN) {
-        // First frame in message contains event number and value
-        std::string frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        uint16_t event_type = *(uint16_t *)(frame.data());
-
-        // Second frame in message contains event address
-        frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        std::unique_lock lk(mutex);
-        auto &pair = socket_pairs[i];
-        if (event_type & ZMQ_EVENT_ACCEPTED) {
-          printf("socket [%s] connected\n", pair.endpoint.c_str());
-          if (++pair.connected_clients == 1) {
-            // Create new MSGQ subscriber socket and map to ZMQ publisher
-            pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
-            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
-            registerSockets();
-          }
-        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
-          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
-          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
-            // Remove MSGQ subscriber socket from mapping and reset it
-            sub2pub.erase(pair.sub_sock.get());
-            pair.sub_sock.reset(nullptr);
-            registerSockets();
-          }
-        }
-        cv.notify_one();
-      }
-    }
-  }
-
-  // Clean up monitor sockets
-  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
-    zmq_close(pollitems[i].socket);
-  }
-  cv.notify_one();
-}
-
-void MsgqToZmq::registerSockets() {
-  msgq_poller = std::make_unique<MSGQPoller>();
-  for (const auto &socket_pair : socket_pairs) {
-    if (socket_pair.sub_sock) {
-      msgq_poller->registerSocket(socket_pair.sub_sock.get());
-    }
-  }
-}

cereal/messaging/msgq_to_zmq.h

@@ -1,37 +0,0 @@
-#pragma once
-
-#include <condition_variable>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <vector>
-
-#define private public
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
-
-class MsgqToZmq {
-public:
-  MsgqToZmq() {}
-  void run(const std::vector<std::string> &endpoints, const std::string &ip);
-
-protected:
-  void registerSockets();
-  void zmqMonitorThread();
-
-  struct SocketPair {
-    std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
-    std::unique_ptr<MSGQSubSocket> sub_sock;
-    int connected_clients = 0;
-  };
-
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
-  std::mutex mutex;
-  std::condition_variable cv;
-  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
-  std::vector<SocketPair> socket_pairs;
-};

cereal/messaging/socketmaster.cc

@@ -1,13 +1,27 @@
+#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
 #include <mutex>
 
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "services.h"
+#include "messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+
+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
@@ -17,7 +31,7 @@ static inline bool inList(const std::vector<const char *> &list, const char *val
 
 class MessageContext {
 public:
-  MessageContext() : ctx_(nullptr) {}
+  MessageContext() : ctx_(nullptr) {};
   ~MessageContext() { delete ctx_; }
   inline Context *context() {
     std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
@@ -33,34 +47,30 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  float freq = 0.0f;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  int freq = 0;
+  bool updated = false, alive = false, valid = true, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
-  bool is_polled = false;
   capnp::FlatArrayMessageReader *msg_reader = nullptr;
   AlignedBuffer aligned_buf;
   cereal::Event::Reader event;
 };
 
-SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
-                     const char *address, const std::vector<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
   poller_ = Poller::create();
   for (auto name : service_list) {
-    assert(services.count(std::string(name)) > 0);
-
-    service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     assert(socket != 0);
-    bool is_polled = inList(poll, name) || poll.empty();
-    if (is_polled) poller_->registerSocket(socket);
+    poller_->registerSocket(socket);
     SubMessage *m = new SubMessage{
       .name = name,
       .socket = socket,
-      .freq = serv.frequency,
+      .freq = serv->frequency,
       .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .is_polled = is_polled};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
     m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
     messages_[socket] = m;
     services_[name] = m;
@@ -71,14 +81,6 @@ void SubMaster::update(int timeout) {
   for (auto &kv : messages_) kv.second->updated = false;
 
   auto sockets = poller_->poll(timeout);
-
-  // add non-polled sockets for non-blocking receive
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    SubSocket *s = kv.first;
-    if (!m->is_polled) sockets.push_back(s);
-  }
-
   uint64_t current_time = nanos_since_boot();
 
   std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
@@ -103,7 +105,7 @@ void SubMaster::update(int timeout) {
 void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
   if (++frame == UINT64_MAX) frame = 1;
 
-  for (auto &kv : messages) {
+  for(auto &kv : messages) {
     auto m_find = services_.find(kv.first);
     if (m_find == services_.end()){
       continue;
@@ -171,7 +173,7 @@ uint64_t SubMaster::rcv_time(const char *name) const {
 
 cereal::Event::Reader &SubMaster::operator[](const char *name) const {
   return services_.at(name)->event;
-}
+};
 
 SubMaster::~SubMaster() {
   delete poller_;
@@ -186,9 +188,8 @@ SubMaster::~SubMaster() {
 
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
-    assert(services.count(name) > 0);
-    service serv = services.at(std::string(name));
-    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
+    assert(get_service(name) != nullptr);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/messaging/tests/test_messaging.py

@@ -1,185 +0,0 @@
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-from parameterized import parameterized
-import pytest
-
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
-
-def random_sock():
-  return random.choice(events)
-
-def random_socks(num_socks=10):
-  return list({random_sock() for _ in range(num_socks)})
-
-def random_bytes(length=1000):
-  return bytes([random.randrange(0xFF) for _ in range(length)])
-
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
-  msg = messaging.new_message("carState")
-  cs = msg.carState
-  for f in fields:
-    setattr(cs, f, random.random() * 10)
-  return msg
-
-# TODO: this should compare any capnp structs
-def assert_carstate(cs1, cs2):
-  for f in car.CarState.schema.non_union_fields:
-    # TODO: check all types
-    val1, val2 = getattr(cs1, f), getattr(cs2, f)
-    if isinstance(val1, numbers.Number):
-      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
-
-def delayed_send(delay, sock, dat):
-  def send_func():
-    sock.send(dat)
-  threading.Timer(delay, send_func).start()
-
-
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  @parameterized.expand(events)
-  def test_new_message(self, evt):
-    try:
-      msg = messaging.new_message(evt)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
-
-  @parameterized.expand(events)
-  def test_pub_sock(self, evt):
-    messaging.pub_sock(evt)
-
-  @parameterized.expand(events)
-  def test_sub_sock(self, evt):
-    messaging.sub_sock(evt)
-
-  @parameterized.expand([
-    (messaging.drain_sock, capnp._DynamicStructReader),
-    (messaging.drain_sock_raw, bytes),
-  ])
-  def test_drain_sock(self, func, expected_type):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no wait and no msgs in queue
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
-
-    # no wait but msgs are queued up
-    num_msgs = random.randrange(3, 10)
-    for _ in range(num_msgs):
-      pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
-
-  def test_recv_sock(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
-
-    # no wait and no msg in queue, socket should timeout
-    recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
-
-    # no wait and one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    time.sleep(0.01)
-    recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    # https://github.com/python/mypy/issues/13038
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no msg in queue, socket should timeout
-    recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
-  def test_recv_one_or_none(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
-
-    # no msg in queue, socket shouldn't block
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one_retry(self):
-    sock = "carState"
-    sock_timeout = 0.1
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
-
-    # wait 5 socket timeouts before sending
-    msg = random_carstate()
-    start_time = time.monotonic()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
-    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_pub_sub_master.py

@@ -1,160 +0,0 @@
-import random
-import time
-from typing import Sized, cast
-
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
-from cereal.services import SERVICE_LIST
-
-
-class TestSubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    sm = messaging.SubMaster(events)
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(events)
-
-  def test_init_state(self):
-    socks = random_socks()
-    sm = messaging.SubMaster(socks)
-    assert sm.frame == -1
-    assert not any(sm.updated.values())
-    assert not any(sm.seen.values())
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
-    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
-    assert all(t == 0. for t in sm.recv_time.values())
-    assert all(f == 0 for f in sm.recv_frame.values())
-    assert all(t == 0 for t in sm.logMonoTime.values())
-
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(socks)
-
-  def test_getitem(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    sm.update(1000)
-    assert_carstate(msg.carState, sm[sock])
-
-  # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
-  def test_update(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    for i in range(10):
-      msg = messaging.new_message(sock)
-      pub_sock.send(msg.to_bytes())
-      sm.update(1000)
-      assert sm.frame == i
-      assert all(sm.updated.values())
-
-  def test_update_timeout(self):
-    sock = random_sock()
-    sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
-    start_time = time.monotonic()
-    sm.update(timeout)
-    t = time.monotonic() - start_time
-    assert t >= timeout/1000.
-    assert t < 3
-    assert not any(sm.updated.values())
-
-  def test_avg_frequency_checks(self):
-    for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
-                               poll=("modelV2" if poll else None),
-                               frequency=(20. if not poll else None))
-
-      checks = {
-        "carState": (20, 20),
-        "modelV2": (20, 20 if poll else 10),
-        "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
-        "carParams": (None, None),
-        "userBookmark": (None, None),
-      }
-
-      for service, (max_freq, min_freq) in checks.items():
-        if max_freq is not None:
-          assert sm._check_avg_freq(service)
-          assert sm.freq_tracker[service].max_freq == max_freq*1.2
-          assert sm.freq_tracker[service].min_freq == min_freq*0.8
-        else:
-          assert not sm._check_avg_freq(service)
-
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
-  # SubMaster should always conflate
-  def test_conflate(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-
-    n = 10
-    for i in range(n+1):
-      msg = messaging.new_message(sock)
-      msg.carState.vEgo = i
-      pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
-    sm.update(1000)
-    assert sm[sock].vEgo == n
-
-
-class TestPubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    messaging.PubMaster(events)
-
-  def test_send(self):
-    socks = random_socks()
-    pm = messaging.PubMaster(socks)
-    sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
-
-    # PubMaster accepts either a capnp msg builder or bytes
-    for capnp in [True, False]:
-      for i in range(100):
-        sock = socks[i % len(socks)]
-
-        if capnp:
-          try:
-            msg = messaging.new_message(sock)
-          except Exception:
-            msg = messaging.new_message(sock, random.randrange(50))
-        else:
-          msg = random_bytes()
-
-        pm.send(sock, msg)
-        recvd = sub_socks[sock].receive()
-
-        if capnp:
-          msg.clear_write_flag()
-          msg = msg.to_bytes()
-        assert msg == recvd, i

cereal/messaging/tests/test_services.py

@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"

cereal/services.h

@@ -1,102 +0,0 @@
-/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
-#ifndef __SERVICES_H
-#define __SERVICES_H
-#include <map>
-#include <string>
-struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };
-static std::map<std::string, service> services = {
-  { "gyroscope", {"gyroscope", true, 104.000000, 104, 256000}},
-  { "accelerometer", {"accelerometer", true, 104.000000, 104, 256000}},
-  { "magnetometer", {"magnetometer", true, 25.000000, -1, 256000}},
-  { "lightSensor", {"lightSensor", true, 100.000000, 100, 256000}},
-  { "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}},
-  { "gpsNMEA", {"gpsNMEA", true, 9.000000, -1, 256000}},
-  { "deviceState", {"deviceState", true, 2.000000, 1, 256000}},
-  { "touch", {"touch", true, 20.000000, 1, 256000}},
-  { "can", {"can", true, 100.000000, 2053, 10485760}},
-  { "controlsState", {"controlsState", true, 100.000000, 10, 2097152}},
-  { "selfdriveState", {"selfdriveState", true, 100.000000, 10, 256000}},
-  { "pandaStates", {"pandaStates", true, 10.000000, 1, 256000}},
-  { "peripheralState", {"peripheralState", true, 2.000000, 1, 256000}},
-  { "radarState", {"radarState", true, 20.000000, 5, 256000}},
-  { "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1, 256000}},
-  { "liveTracks", {"liveTracks", true, 20.000000, -1, 256000}},
-  { "sendcan", {"sendcan", true, 100.000000, 139, 2097152}},
-  { "logMessage", {"logMessage", true, 0.000000, -1, 256000}},
-  { "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 256000}},
-  { "liveCalibration", {"liveCalibration", true, 4.000000, 4, 256000}},
-  { "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1, 256000}},
-  { "liveDelay", {"liveDelay", true, 4.000000, 1, 256000}},
-  { "androidLog", {"androidLog", true, 0.000000, -1, 256000}},
-  { "carState", {"carState", true, 100.000000, 10, 256000}},
-  { "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}},
-  { "gpsLocation", {"gpsLocation", true, 1.000000, 1, 256000}},
-  { "ubloxGnss", {"ubloxGnss", true, 10.000000, -1, 256000}},
-  { "qcomGnss", {"qcomGnss", true, 2.000000, -1, 256000}},
-  { "gnssMeasurements", {"gnssMeasurements", true, 10.000000, 10, 256000}},
-  { "clocks", {"clocks", true, 0.100000, 1, 256000}},
-  { "ubloxRaw", {"ubloxRaw", true, 20.000000, -1, 256000}},
-  { "livePose", {"livePose", true, 20.000000, 4, 256000}},
-  { "liveParameters", {"liveParameters", true, 20.000000, 5, 256000}},
-  { "cameraOdometry", {"cameraOdometry", true, 20.000000, 10, 256000}},
-  { "thumbnail", {"thumbnail", true, 0.016667, 1, 256000}},
-  { "onroadEvents", {"onroadEvents", true, 1.000000, 1, 256000}},
-  { "carParams", {"carParams", true, 0.020000, 1, 256000}},
-  { "roadCameraState", {"roadCameraState", true, 20.000000, 20, 256000}},
-  { "driverCameraState", {"driverCameraState", true, 20.000000, 20, 256000}},
-  { "driverEncodeIdx", {"driverEncodeIdx", false, 20.000000, 1, 256000}},
-  { "driverStateV2", {"driverStateV2", true, 20.000000, 10, 256000}},
-  { "driverMonitoringState", {"driverMonitoringState", true, 20.000000, 10, 256000}},
-  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20.000000, 1, 256000}},
-  { "wideRoadCameraState", {"wideRoadCameraState", true, 20.000000, 20, 256000}},
-  { "drivingModelData", {"drivingModelData", true, 20.000000, 10, 256000}},
-  { "modelV2", {"modelV2", true, 20.000000, -1, 10485760}},
-  { "managerState", {"managerState", true, 2.000000, 1, 256000}},
-  { "uploaderState", {"uploaderState", true, 0.000000, 1, 256000}},
-  { "navInstruction", {"navInstruction", true, 1.000000, 10, 256000}},
-  { "navRoute", {"navRoute", true, 0.000000, -1, 256000}},
-  { "navThumbnail", {"navThumbnail", true, 0.000000, -1, 256000}},
-  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20.000000, -1, 256000}},
-  { "userBookmark", {"userBookmark", true, 0.000000, 1, 256000}},
-  { "soundPressure", {"soundPressure", true, 10.000000, 10, 256000}},
-  { "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
-  { "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
-  { "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
-  { "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
-  { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
-  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
-  { "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
-  { "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
-  { "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
-  { "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
-  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20.000000, -1, 256000}},
-  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20.000000, -1, 256000}},
-  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20.000000, -1, 256000}},
-  { "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

@@ -1,126 +1,77 @@
 #!/usr/bin/env python3
-from enum import IntEnum
+import os
 from typing import Optional
 
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
 
-# TODO: this should be automatically determined using the capnp schema
-class QueueSize(IntEnum):
-  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
-  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
-  SMALL = 250 * 1024          # 250KB - most services
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
-               queue_size: QueueSize = QueueSize.SMALL):
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
+    self.port = port
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
-    self.queue_size = queue_size
 
+DCAM_FREQ = 10. if not TICI else 20.
 
-_services: dict[str, tuple] = {
+services = {
   # service: (should_log, frequency, qlog decimation (optional))
-  # note: the "EncodeIdx" packets will still be in the log
-  "gyroscope": (True, 104., 104),
-  "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 2., 200),
+  "sensorEvents": (True, 100., 100),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
-  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
-  "selfdriveState": (True, 100., 10),
-  "pandaStates": (True, 10., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 10),
+  "pandaStates": (True, 2., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
+  "roadEncodeIdx": (True, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
+  "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
-  "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 10),
-  "lateralManeuverPlan": (True, 20.),
-  "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15, QueueSize.BIG),
+  "longitudinalPlan": (True, 20., 5),
+  "procLog": (True, 0.5),
   "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
-  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 0.1, 1),
+  "clocks": (True, 1., 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
-  "onroadEvents": (True, 1., 1),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
-  "driverStateV2": (True, 20., 10),
-  "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 1),
+  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
+  "driverEncodeIdx": (True, DCAM_FREQ, 1),
+  "driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "wideRoadEncodeIdx": (True, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., None, QueueSize.BIG),
+  "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
+  "navInstruction": (True, 0.),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "qRoadEncodeIdx": (False, 20.),
-  "userBookmark": (True, 0., 1),
-  "soundPressure": (True, 10., 10),
-  "rawAudioData": (False, 20.),
-  "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
-  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # debug
-  "uiDebug": (True, 0., 1),
-  "testJoystick": (True, 0.),
-  "alertDebug": (True, 20., 5),
-  "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "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),
+  "testJoystick": (False, 0.),
 }
-SERVICE_LIST = {name: Service(*vals) for
-                idx, (name, vals) in enumerate(_services.items())}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
 
 
 def build_header():
@@ -128,19 +79,14 @@ def build_header():
   h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
   h += "#ifndef __SERVICES_H\n"
   h += "#define __SERVICES_H\n"
-
-  h += "#include <map>\n"
-  h += "#include <string>\n"
-
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
-  h += "static std::map<std::string, service> services = {\n"
-  for k, v in SERVICE_LIST.items():
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
   h += "};\n"
-
   h += "#endif\n"
   return h
 

cereal/visionipc/.gitignore

@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so

cereal/visionipc/ipc.cc

@@ -0,0 +1,121 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+
+#ifdef __APPLE__
+#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
+#else
+#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
+#endif
+
+#include "ipc.h"
+
+int ipc_connect(const char* socket_path) {
+  int err;
+
+  int sock = getsocket();
+
+  if (sock < 0) return -1;
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
+  if (err != 0) {
+    close(sock);
+    return -1;
+  }
+
+  return sock;
+}
+
+int ipc_bind(const char* socket_path) {
+  int err;
+
+  unlink(socket_path);
+
+  int sock = getsocket();
+
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
+  assert(err == 0);
+
+  err = listen(sock, 3);
+  assert(err == 0);
+
+  return sock;
+}
+
+
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds) {
+  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
+  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
+
+  struct iovec iov = {
+    .iov_base = buf,
+    .iov_len = buf_size,
+  };
+  struct msghdr msg = {
+    .msg_iov = &iov,
+    .msg_iovlen = 1,
+  };
+
+  if (num_fds > 0) {
+    assert(fds);
+
+    msg.msg_control = control_buf;
+    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
+  }
+
+  if (send) {
+    if (num_fds) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      cmsg->cmsg_level = SOL_SOCKET;
+      cmsg->cmsg_type = SCM_RIGHTS;
+      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
+      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
+    }
+    return sendmsg(fd, &msg, 0);
+  } else {
+    int r = recvmsg(fd, &msg, 0);
+    if (r < 0) return r;
+
+    int recv_fds = 0;
+    if (msg.msg_controllen > 0) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
+      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
+      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
+      recv_fds /= sizeof(int);
+
+      assert(fds && recv_fds <= num_fds);
+      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
+    }
+
+    if (msg.msg_flags) {
+      for (int i=0; i<recv_fds; i++) {
+        close(fds[i]);
+      }
+      return -1;
+    }
+
+    if (fds) {
+      assert(out_num_fds);
+      *out_num_fds = recv_fds;
+    }
+    return r;
+  }
+}

cereal/visionipc/ipc.h

@@ -0,0 +1,7 @@
+#pragma once
+#include <cstddef>
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);

cereal/visionipc/visionbuf.cc

@@ -0,0 +1,49 @@
+#include "visionbuf.h"
+
+#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
+
+#ifdef QCOM
+// from libadreno_utils.so
+extern "C" void compute_aligned_width_and_height(int width,
+                                                 int height,
+                                                 int bpp,
+                                                 int tile_mode,
+                                                 int raster_mode,
+                                                 int padding_threshold,
+                                                 int *aligned_w,
+                                                 int *aligned_h);
+#endif
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
+#ifdef QCOM
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
+#else
+  *aligned_w = width; *aligned_h = height;
+#endif
+}
+
+void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
+  this->rgb = true;
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
+}
+
+void VisionBuf::init_yuv(size_t init_width, size_t init_height){
+  this->rgb = false;
+  this->width = init_width;
+  this->height = init_height;
+
+  this->y = (uint8_t *)this->addr;
+  this->u = this->y + (this->width * this->height);
+  this->v = this->u + (this->width / 2 * this->height / 2);
+}
+
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
+}

cereal/visionipc/visionbuf.h

@@ -0,0 +1,67 @@
+#pragma once
+#include "visionipc.h"
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#define VISIONBUF_SYNC_FROM_DEVICE 0
+#define VISIONBUF_SYNC_TO_DEVICE 1
+
+enum VisionStreamType {
+  VISION_STREAM_RGB_BACK,
+  VISION_STREAM_RGB_FRONT,
+  VISION_STREAM_RGB_WIDE,
+  VISION_STREAM_ROAD,
+  VISION_STREAM_DRIVER,
+  VISION_STREAM_WIDE_ROAD,
+  VISION_STREAM_RGB_MAP,
+  VISION_STREAM_MAX,
+};
+
+class VisionBuf {
+ public:
+  size_t len = 0;
+  size_t mmap_len = 0;
+  void * addr = nullptr;
+  uint64_t *frame_id;
+  int fd = 0;
+
+  bool rgb = false;
+  size_t width = 0;
+  size_t height = 0;
+  size_t stride = 0;
+
+  // YUV
+  uint8_t * y = nullptr;
+  uint8_t * u = nullptr;
+  uint8_t * v = nullptr;
+
+  // Visionipc
+  uint64_t server_id = 0;
+  size_t idx = 0;
+  VisionStreamType type;
+
+  // OpenCL
+  cl_mem buf_cl = nullptr;
+  cl_command_queue copy_q = nullptr;
+
+  // ion
+  int handle = 0;
+
+  void allocate(size_t len);
+  void import();
+  void init_cl(cl_device_id device_id, cl_context ctx);
+  void init_rgb(size_t width, size_t height, size_t stride);
+  void init_yuv(size_t width, size_t height);
+  int sync(int dir);
+  int free();
+
+  void set_frame_id(uint64_t id);
+  uint64_t get_frame_id();
+};
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

cereal/visionipc/visionbuf_cl.cc

@@ -1,4 +1,4 @@
-#include "msgq/visionipc/visionbuf.h"
+#include "visionbuf.h"
 
 #include <atomic>
 #include <stdio.h>
@@ -17,7 +17,7 @@ static void *malloc_with_fd(size_t len, int *fd) {
 #ifdef __APPLE__
   snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
 #else
-  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/msgq_visionbuf_%d_%d", getpid(), offset++);
+  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
 #endif
 
   *fd = open(full_path, O_RDWR | O_CREAT, 0664);
@@ -34,8 +34,8 @@ static void *malloc_with_fd(size_t len, int *fd) {
 
 void VisionBuf::allocate(size_t length) {
   this->len = length;
-  this->mmap_len = this->len + sizeof(uint64_t);
-  this->addr = malloc_with_fd(this->mmap_len, &this->fd);
+  this->mmap_len = this->len;
+  this->addr = malloc_with_fd(this->len, &this->fd);
   this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
 }
 
@@ -86,7 +86,7 @@ int VisionBuf::free() {
     if (err != 0) return err;
   }
 
-  err = munmap(this->addr, this->mmap_len);
+  err = munmap(this->addr, this->len);
   if (err != 0) return err;
 
   err = close(this->fd);

cereal/visionipc/visionbuf_ion.cc

@@ -14,7 +14,7 @@
 
 #include <msm_ion.h>
 
-#include "msgq/visionipc/visionbuf.h"
+#include "visionbuf.h"
 
 // keep trying if x gets interrupted by a signal
 #define HANDLE_EINTR(x)                                       \
@@ -40,35 +40,30 @@
 #define DEVICE_PAGE_SIZE_CL 4096
 #define PADDING_CL 0
 
-struct IonFileHandle {
-  IonFileHandle() {
-    fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
-    assert(fd >= 0);
+static int ion_fd = -1;
+static void ion_init() {
+  if (ion_fd == -1) {
+    ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
   }
-  ~IonFileHandle() {
-    close(fd);
-  }
-  int fd = -1;
-};
-
-int ion_fd() {
-  static IonFileHandle fh;
-  return fh.fd;
 }
 
 void VisionBuf::allocate(size_t length) {
+  int err;
+
+  ion_init();
+
   struct ion_allocation_data ion_alloc = {0};
   ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
   ion_alloc.align = 4096;
   ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
   ion_alloc.flags = ION_FLAG_CACHED;
 
-  int err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_ALLOC, &ion_alloc));
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
   assert(err == 0);
 
   struct ion_fd_data ion_fd_data = {0};
   ion_fd_data.handle = ion_alloc.handle;
-  err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_SHARE, &ion_fd_data));
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
   assert(err == 0);
 
   void *mmap_addr = mmap(NULL, ion_alloc.len,
@@ -90,10 +85,12 @@ void VisionBuf::import(){
   int err;
   assert(this->fd >= 0);
 
+  ion_init();
+
   // Get handle
   struct ion_fd_data fd_data = {0};
   fd_data.fd = this->fd;
-  err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_IMPORT, &fd_data));
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
   assert(err == 0);
 
   this->handle = fd_data.handle;
@@ -139,7 +136,7 @@ int VisionBuf::sync(int dir) {
      ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
 
   custom_data.arg = (unsigned long)&flush_data;
-  return HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_CUSTOM, &custom_data));
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
 }
 
 int VisionBuf::free() {
@@ -157,5 +154,5 @@ int VisionBuf::free() {
   if (err != 0) return err;
 
   struct ion_handle_data handle_data = {.handle = this->handle};
-  return HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_FREE, &handle_data));
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
 }

cereal/visionipc/visionipc.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+constexpr int VISIONIPC_MAX_FDS = 128;
+
+struct VisionIpcBufExtra {
+  uint32_t frame_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+};
+
+struct VisionIpcPacket {
+  uint64_t server_id;
+  size_t idx;
+  struct VisionIpcBufExtra extra;
+};

cereal/visionipc/visionipc.pxd

@@ -0,0 +1,39 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+
+cdef extern from "visionbuf.h":
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    size_t len
+    size_t width
+    size_t height
+    size_t stride
+
+cdef extern from "visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+
+cdef extern from "visionipc_server.h":
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
+
+cdef extern from "visionipc_client.h":
+  cdef cppclass VisionIpcClient:
+    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
+    VisionBuf * recv(VisionIpcBufExtra *, int)
+    bool connect(bool)
+    bool is_connected()

cereal/visionipc/visionipc_client.cc

@@ -0,0 +1,129 @@
+#include <chrono>
+#include <cassert>
+#include <iostream>
+#include <thread>
+
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_client.h"
+#include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
+
+VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
+
+  poller = Poller::create();
+  poller->registerSocket(sock);
+}
+
+// Connect is not thread safe. Do not use the buffers while calling connect
+bool VisionIpcClient::connect(bool blocking){
+  connected = false;
+
+  // Cleanup old buffers on reconnect
+  for (size_t i = 0; i < num_buffers; i++){
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
+  }
+
+  num_buffers = 0;
+
+  // Connect to server socket and ask for all FDs of type
+  std::string path = "/tmp/visionipc_" + name;
+
+  int socket_fd = -1;
+  while (socket_fd < 0) {
+    socket_fd = ipc_connect(path.c_str());
+
+    if (socket_fd < 0) {
+      if (blocking){
+        std::cout << "VisionIpcClient connecting" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      } else {
+        return false;
+      }
+    }
+  }
+
+  // Send stream type to server to request FDs
+  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
+  assert(r == sizeof(type));
+
+  // Get FDs
+  int fds[VISIONIPC_MAX_FDS];
+  VisionBuf bufs[VISIONIPC_MAX_FDS];
+  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
+
+  assert(num_buffers >= 0);
+  assert(r == sizeof(VisionBuf) * num_buffers);
+
+  // Import buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i] = bufs[i];
+    buffers[i].fd = fds[i];
+    buffers[i].import();
+    if (buffers[i].rgb) {
+      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
+    } else {
+      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
+    }
+
+    if (device_id) buffers[i].init_cl(device_id, ctx);
+  }
+
+  close(socket_fd);
+  connected = true;
+  return true;
+}
+
+VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
+  auto p = poller->poll(timeout_ms);
+
+  if (!p.size()){
+    return nullptr;
+  }
+
+  Message * r = sock->receive(true);
+  if (r == nullptr){
+    return nullptr;
+  }
+
+  // Get buffer
+  assert(r->getSize() == sizeof(VisionIpcPacket));
+  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
+
+  assert(packet->idx < num_buffers);
+  VisionBuf * buf = &buffers[packet->idx];
+
+  if (buf->server_id != packet->server_id){
+    connected = false;
+    delete r;
+    return nullptr;
+  }
+
+  if (extra) {
+    *extra = packet->extra;
+  }
+
+  if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
+    LOGE("Failed to sync buffer");
+  }
+
+  delete r;
+  return buf;
+}
+
+
+
+VisionIpcClient::~VisionIpcClient(){
+  for (size_t i = 0; i < num_buffers; i++){
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
+  }
+
+  delete sock;
+  delete poller;
+  delete msg_ctx;
+}

cereal/visionipc/visionipc_client.h

@@ -1,11 +1,11 @@
 #pragma once
-
-#include <set>
+#include <vector>
 #include <string>
+#include <unistd.h>
 
-#include "msgq/ipc.h"
-#include "msgq/visionipc/visionbuf.h"
-
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
 
 class VisionIpcClient {
 private:
@@ -14,12 +14,15 @@ private:
   SubSocket * sock;
   Poller * poller;
 
+  VisionStreamType type;
+
   cl_device_id device_id = nullptr;
   cl_context ctx = nullptr;
 
+  void init_msgq(bool conflate);
+
 public:
   bool connected = false;
-  VisionStreamType type;
   int num_buffers = 0;
   VisionBuf buffers[VISIONIPC_MAX_FDS];
   VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
@@ -27,5 +30,4 @@ public:
   VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
   bool connect(bool blocking=true);
   bool is_connected() { return connected; }
-  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
 };

cereal/visionipc/visionipc_pyx.pyx

@@ -0,0 +1,93 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+import numpy as np
+cimport numpy as cnp
+from cython.view cimport array
+from libc.string cimport memcpy
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionIpcClient as cppVisionIpcClient
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport VisionIpcBufExtra
+
+cpdef enum VisionStreamType:
+  VISION_STREAM_RGB_BACK
+  VISION_STREAM_RGB_FRONT
+  VISION_STREAM_RGB_WIDE
+  VISION_STREAM_ROAD
+  VISION_STREAM_DRIVER
+  VISION_STREAM_WIDE_ROAD
+
+
+cdef class VisionIpcServer:
+  cdef cppVisionIpcServer * server
+
+  def __init__(self, string name):
+    self.server = new cppVisionIpcServer(name, NULL, NULL)
+
+  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
+    self.server.create_buffers(tp, num_buffers, rgb, width, height)
+
+  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
+    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
+
+    # Populate buffer
+    assert buf.len == len(data)
+    memcpy(buf.addr, <char*>data, len(data))
+
+    cdef VisionIpcBufExtra extra
+    extra.frame_id = frame_id
+    extra.timestamp_sof = timestamp_sof
+    extra.timestamp_eof = timestamp_eof
+
+    self.server.send(buf, &extra, False)
+
+  def start_listener(self):
+    self.server.start_listener()
+
+  def __dealloc__(self):
+    del self.server
+
+
+cdef class VisionIpcClient:
+  cdef cppVisionBuf * buf
+  cdef cppVisionIpcClient * client
+
+  def __cinit__(self, string name, VisionStreamType stream, bool conflate):
+    self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
+    self.buf = NULL
+
+  def __dealloc__(self):
+    del self.client
+
+  @property
+  def width(self):
+    return None if not self.buf else self.buf.width
+
+  @property
+  def height(self):
+    return None if not self.buf else self.buf.height
+
+  @property
+  def stride(self):
+    return None if not self.buf else self.buf.stride
+
+  def recv(self, int timeout_ms=100):
+    self.buf = self.client.recv(NULL, timeout_ms)
+    if not self.buf:
+      return None
+    cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
+    cdef char[:] dat_view = dat
+    memcpy(&dat_view[0], self.buf.addr, self.buf.len)
+    return dat
+
+  def connect(self, bool blocking):
+    return self.client.connect(blocking)
+
+  def is_connected(self):
+    return self.client.is_connected()

cereal/visionipc/visionipc_server.cc

@@ -0,0 +1,184 @@
+#include <iostream>
+#include <chrono>
+#include <cassert>
+#include <random>
+
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "messaging/messaging.h"
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type){
+  if (messaging_use_zmq()){
+    assert(name == "camerad");
+    return std::to_string(9000 + static_cast<int>(type));
+  } else {
+    return "visionipc_" + name + "_" + std::to_string(type);
+  }
+}
+
+VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
+  server_id = distribution(rd);
+}
+
+void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
+  // TODO: assert that this type is not created yet
+  assert(num_buffers < VISIONIPC_MAX_FDS);
+  int aligned_w = 0, aligned_h = 0;
+
+  size_t size = 0;
+  size_t stride = 0; // Only used for RGB
+
+  if (rgb) {
+    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
+    size = (size_t)aligned_w * (size_t)aligned_h * 3;
+    stride = aligned_w * 3;
+  } else {
+    size = width * height * 3 / 2;
+  }
+
+  // Create map + alloc requested buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    VisionBuf* buf = new VisionBuf();
+    buf->allocate(size);
+    buf->idx = i;
+    buf->type = type;
+
+    if (device_id) buf->init_cl(device_id, ctx);
+
+    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
+
+    buffers[type].push_back(buf);
+  }
+
+  cur_idx[type] = 0;
+
+  // Create msgq publisher for each of the `name` + type combos
+  // TODO: compute port number directly if using zmq
+  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
+}
+
+
+void VisionIpcServer::start_listener(){
+  listener_thread = std::thread(&VisionIpcServer::listener, this);
+}
+
+
+void VisionIpcServer::listener(){
+  std::cout << "Starting listener for: " << name << std::endl;
+
+  std::string path = "/tmp/visionipc_" + name;
+  int sock = ipc_bind(path.c_str());
+  assert(sock >= 0);
+
+  while (!should_exit){
+    // Wait for incoming connection
+    struct pollfd polls[1] = {{0}};
+    polls[0].fd = sock;
+    polls[0].events = POLLIN;
+
+    int ret = poll(polls, 1, 100);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      std::cout << "poll failed, stopping listener" << std::endl;
+      break;
+    }
+
+    if (should_exit) break;
+    if (!polls[0].revents) {
+      continue;
+    }
+
+    // Handle incoming request
+    int fd = accept(sock, NULL, NULL);
+    assert(fd >= 0);
+
+    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
+    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
+    assert(r == sizeof(type));
+    if (buffers.count(type) <= 0) {
+      std::cout << "got request for invalid buffer type: " << type << std::endl;
+      close(fd);
+      continue;
+    }
+
+    int fds[VISIONIPC_MAX_FDS];
+    int num_fds = buffers[type].size();
+    VisionBuf bufs[VISIONIPC_MAX_FDS];
+
+    for (int i = 0; i < num_fds; i++){
+      fds[i] = buffers[type][i]->fd;
+      bufs[i] = *buffers[type][i];
+
+      // Remove some private openCL/ion metadata
+      bufs[i].buf_cl = 0;
+      bufs[i].copy_q = 0;
+      bufs[i].handle = 0;
+
+      bufs[i].server_id = server_id;
+    }
+
+    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
+
+    close(fd);
+  }
+
+  std::cout << "Stopping listener for: " << name << std::endl;
+  close(sock);
+}
+
+
+
+VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
+  // Do we want to keep track if the buffer has been sent out yet and warn user?
+  assert(buffers.count(type));
+  auto b = buffers[type];
+  return b[cur_idx[type]++ % b.size()];
+}
+
+void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
+  if (sync) {
+    if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
+      LOGE("Failed to sync buffer");
+    }
+  }
+  assert(buffers.count(buf->type));
+  assert(buf->idx < buffers[buf->type].size());
+
+  // Send over correct msgq socket
+  VisionIpcPacket packet = {0};
+  packet.server_id = server_id;
+  packet.idx = buf->idx;
+  packet.extra = *extra;
+
+  sockets[buf->type]->send((char*)&packet, sizeof(packet));
+}
+
+VisionIpcServer::~VisionIpcServer(){
+  should_exit = true;
+  listener_thread.join();
+
+  // VisionBuf cleanup
+  for( auto const& [type, buf] : buffers ) {
+    for (VisionBuf* b : buf){
+      if (b->free() != 0) {
+        LOGE("Failed to free buffer");
+      }
+      delete b;
+    }
+  }
+
+  // Messaging cleanup
+  for( auto const& [type, sock] : sockets ) {
+    delete sock;
+  }
+  delete msg_ctx;
+}

cereal/visionipc/visionipc_server.h

@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type);
+
+class VisionIpcServer {
+ private:
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  uint64_t server_id;
+
+  std::atomic<bool> should_exit = false;
+  std::string name;
+  std::thread listener_thread;
+
+  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
+  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
+  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
+
+  Context * msg_ctx;
+  std::map<VisionStreamType, PubSocket*> sockets;
+
+  void listener(void);
+
+ public:
+  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcServer();
+
+  VisionBuf * get_buffer(VisionStreamType type);
+
+  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
+  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
+  void start_listener();
+};

cereal/visionipc/visionipc_tests.cc

@@ -2,10 +2,8 @@
 #include <chrono>
 
 #include "catch2/catch.hpp"
-
-#include "msgq/visionipc/visionipc_server.h"
-#include "msgq/visionipc/visionipc_client.h"
-
+#include "visionipc_server.h"
+#include "visionipc_client.h"
 
 static void zmq_sleep(int milliseconds=1000){
   if (messaging_use_zmq()){
@@ -15,7 +13,7 @@ static void zmq_sleep(int milliseconds=1000){
 
 TEST_CASE("Connecting"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
   server.start_listener();
 
   VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
@@ -24,21 +22,10 @@ TEST_CASE("Connecting"){
   REQUIRE(client.connected);
 }
 
-TEST_CASE("getAvailableStreams"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
-  server.create_buffers(VISION_STREAM_WIDE_ROAD, 1, 100, 100);
-  server.start_listener();
-  auto available_streams = VisionIpcClient::getAvailableStreams("camerad");
-  REQUIRE(available_streams.size() == 2);
-  REQUIRE(available_streams.count(VISION_STREAM_ROAD) == 1);
-  REQUIRE(available_streams.count(VISION_STREAM_WIDE_ROAD) == 1);
-}
-
 TEST_CASE("Check buffers"){
   size_t width = 100, height = 200, num_buffers = 5;
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, num_buffers, width, height);
+  server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
   server.start_listener();
 
   VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
@@ -50,9 +37,24 @@ TEST_CASE("Check buffers"){
   REQUIRE(client.num_buffers == num_buffers);
 }
 
+TEST_CASE("Check yuv/rgb"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
+  client_yuv.connect();
+  client_rgb.connect();
+
+  REQUIRE(client_rgb.buffers[0].rgb == true);
+  REQUIRE(client_yuv.buffers[0].rgb == false);
+}
+
 TEST_CASE("Send single buffer"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
   VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
@@ -81,7 +83,7 @@ TEST_CASE("Send single buffer"){
 
 TEST_CASE("Test no conflate"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
   VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
@@ -109,7 +111,7 @@ TEST_CASE("Test no conflate"){
 
 TEST_CASE("Test conflate"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
   VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);

common/.gitignore

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

common/SConscript

@@ -1,35 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('envCython', 'common')
 
-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')
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

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 +1,46 @@
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
+from selfdrive.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

@@ -1,4 +1,11 @@
 import os
+from pathlib import Path
 
+from selfdrive.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+if PC:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
+else:
+  PERSIST = "/persist"

common/clock.pyx

@@ -0,0 +1,24 @@
+# distutils: language = c++
+# cython: language_level = 3
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
+
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
+
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
+
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
+
+def monotonic_time():
+  return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return readclock(CLOCK_BOOTTIME)
+

common/clutil.cc

@@ -1,129 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-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) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(resolve_program_path(path)), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}

common/constants.py

@@ -1,29 +0,0 @@
-import numpy as np
-
-# conversions
-class CV:
-  # Speed
-  MPH_TO_KPH = 1.609344
-  KPH_TO_MPH = 1. / MPH_TO_KPH
-  MS_TO_KPH = 3.6
-  KPH_TO_MS = 1. / MS_TO_KPH
-  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
-  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
-  MS_TO_KNOTS = 1.9438
-  KNOTS_TO_MS = 1. / MS_TO_KNOTS
-
-  # Angle
-  DEG_TO_RAD = np.pi / 180.
-  RAD_TO_DEG = 1. / DEG_TO_RAD
-
-  # Mass
-  LB_TO_KG = 0.453592
-
-  # 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/dict_helpers.py

@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d

common/ffi_wrapper.py

@@ -0,0 +1,55 @@
+import os
+import sys
+import fcntl
+import hashlib
+import platform
+from cffi import FFI
+
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
+
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print(f"cache miss {cache}")
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
+  os.environ['CFLAGS'] = cflags
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib

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/file_helpers.py

@@ -0,0 +1,113 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+
+def mkdirs_exists_ok(path):
+  if path.startswith('http://') or path.startswith('https://'):
+    raise ValueError('URL path')
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+
+def get_tmpdir_on_same_filesystem(path):
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return f"/{parts[1]}/runner/tmp"
+  return "/tmp"
+
+
+class NamedTemporaryDir():
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    return writer.get_fileobject(dir=temp_dir)
+  return _get_fileobject
+
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/filter_simple.py

@@ -1,4 +1,5 @@
 class FirstOrderFilter:
+  # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
     self.dt = dt
@@ -15,20 +16,3 @@ class FirstOrderFilter:
       self.initialized = True
       self.x = x
     return self.x
-
-
-class BounceFilter(FirstOrderFilter):
-  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
-    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
-    self.bounce = bounce
-    super().__init__(x0, rc, dt, initialized)
-
-  def update(self, x):
-    super().update(x)
-    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
-    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
-    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
-      self.velocity.x = 0.0
-    self.x += self.velocity.x
-    return self.x

common/git.py

@@ -1,42 +0,0 @@
-from functools import cache
-import subprocess
-from openpilot.common.utils import run_cmd, run_cmd_default
-
-
-@cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
-
-
-@cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
-  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
-
-
-@cache
-def get_short_branch(cwd: str = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
-
-
-@cache
-def get_branch(cwd: str = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
-
-
-@cache
-def get_origin(cwd: str = None) -> str:
-  try:
-    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
-    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
-    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
-  except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
-
-
-@cache
-def get_normalized_origin(cwd: str = None) -> str:
-  return get_origin(cwd) \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)

common/gpio.py

@@ -1,89 +1,14 @@
-import os
-import fcntl
-import ctypes
-from functools import cache
-
-def gpio_init(pin: int, output: bool) -> None:
+def gpio_init(pin, output):
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
       f.write(b"out" if output else b"in")
   except Exception as e:
     print(f"Failed to set gpio {pin} direction: {e}")
 
-def gpio_set(pin: int, high: bool) -> None:
+
+def gpio_set(pin, high):
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
       f.write(b"1" if high else b"0")
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
-
-def gpio_read(pin: int) -> bool | None:
-  val = None
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
-      val = bool(int(f.read().strip()))
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
-
-  return val
-
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
-@cache
-def get_irq_action(irq: int) -> list[str]:
-  try:
-    with open(f"/sys/kernel/irq/{irq}/actions") as f:
-      actions = f.read().strip().split(',')
-      return actions
-  except FileNotFoundError:
-    return []
-
-def get_irqs_for_action(action: str) -> list[str]:
-  ret = []
-  with open("/proc/interrupts") as f:
-    for l in f.readlines():
-      irq = l.split(':')[0].strip()
-      if irq.isdigit() and action in get_irq_action(irq):
-        ret.append(irq)
-  return ret
-
-# *** gpiochip ***
-
-class gpioevent_data(ctypes.Structure):
-  _fields_ = [
-    ("timestamp", ctypes.c_uint64),
-    ("id", ctypes.c_uint32),
-  ]
-
-class gpioevent_request(ctypes.Structure):
-  _fields_ = [
-    ("lineoffset", ctypes.c_uint32),
-    ("handleflags", ctypes.c_uint32),
-    ("eventflags", ctypes.c_uint32),
-    ("label", ctypes.c_char * 32),
-    ("fd", ctypes.c_int)
-  ]
-
-def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
-  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
-  GPIOHANDLE_REQUEST_INPUT = 0x1
-  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
-
-  rq = gpioevent_request()
-  rq.lineoffset = pin
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
-  rq.label = label.encode('utf-8')[:31] + b'\0'
-
-  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
-  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
-  os.close(fd)
-  return int(rq.fd)

common/gps.py

@@ -1,8 +0,0 @@
-from openpilot.common.params import Params
-
-
-def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable"):
-    return "gpsLocationExternal"
-  else:
-    return "gpsLocation"

common/kalman/.gitignore

@@ -0,0 +1 @@
+simple_kalman_impl.c

common/kalman/SConscript

@@ -0,0 +1,3 @@
+Import('envCython')
+
+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')