squeak squeak

OP Long: Left stick horizontal steer
	            Right stick vertical gas/brake

AOL:  Left stick horizontal steer

Controller profiles added:
Google Stadia Controller added
Xbox Controller has its own profile
Dual Sense has its own profile

joystick_probe.py tool allows people to discover their own controllers.

.claude/settings.local.json

@@ -0,0 +1,9 @@
+{
+  "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

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

.editorconfig

@@ -0,0 +1,11 @@
+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/FUNDING.yml

@@ -0,0 +1,6 @@
+github: firestar5683
+patreon: firestar4430
+custom:
+  - "https://cash.app/$domkthompson"
+  - "https://account.venmo.com/u/firestar4430"
+  - "https://www.paypal.com/paypalme/firestar4430"

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,47 @@
+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

@@ -0,0 +1,14 @@
+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

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+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

@@ -0,0 +1,27 @@
+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

@@ -0,0 +1,68 @@
+<!-- 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

@@ -0,0 +1,58 @@
+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@v5'
+      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@v5'
+      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

@@ -0,0 +1,21 @@
+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@v5
+      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

@@ -0,0 +1,209 @@
+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_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@v6
+        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=()
+          [[ "${{ inputs.build_params }}" == "true" ]] && TARGETS+=("common/params_pyx.so")
+          [[ "${{ inputs.build_cereal }}" == "true" ]] && TARGETS+=("cereal/messaging/bridge")
+          if [[ "${{ inputs.build_panda }}" == "true" ]]; then
+            TARGETS+=(
+              "panda/board/obj/panda.bin.signed"
+              "panda/board/obj/panda_h7.bin.signed"
+              "panda/board/obj/panda_remote.bin.signed"
+              "panda/board/obj/panda_h7_remote.bin.signed"
+              "panda/board/obj/panda_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_h7_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_remote_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_jungle_h7.bin.signed"
+              "panda/board/obj/body_h7.bin.signed"
+            )
+          fi
+          [[ "${{ 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 panda"
+            TARGETS=("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

@@ -0,0 +1,115 @@
+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@v6
+        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

@@ -0,0 +1,35 @@
+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@v6
+
+      - name: Log in to GHCR
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push runner image
+        uses: docker/build-push-action@v7
+        with:
+          context: .
+          file: tools/truenas_github_runner/Dockerfile
+          push: true
+          tags: ghcr.io/${{ github.repository_owner }}/starpilot-truenas-runner:${{ inputs.image_tag }}

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

@@ -0,0 +1,52 @@
+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

@@ -0,0 +1,56 @@
+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

@@ -1,12 +1,28 @@
 venv/
+.venv/
+.ci_cache
+.env
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
+.overlay_init
+.overlay_consistent
 .sconsign.dblite
-model2.png
 a.out
+.hypothesis
+.cache/
+.host_runtime/
+.comma_sysroot/
+.venv-linux-arm64/
+compiledmodels/
 
+/docs_site/
+
+*.mp4
+!docs/assets/speed-limit-vision-demo*.mp4
+*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -14,27 +30,106 @@ a.out
 .*.swp
 .*.swo
 .*.un~
+*.tmp
 *.o
+*.o-*
+*.os
+*.os-*
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
+*.mo
+*_pyx.cpp
+*.stats
 config.json
 clcache
+compile_commands.json
+compare_runtime*.html
 
-board/obj/
-selfdrive/boardd/boardd
-selfdrive/logcatd/logcatd
-selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
-selfdrive/ui/ui
-selfdrive/test/tests/plant/out
-selfdrive/visiond/visiond
-/src/
+cereal/services.h
+cereal/gen
+selfdrive/ui/translations/tmp
+selfdrive/car/tests/cars_dump
+system/camerad/test/ae_gray_test
+.coverage*
+coverage.xml
+htmlcov
+pandaextra
 
-one
-openpilot
-xx
+.mypy_cache/
+flycheck_*
 
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl
+!selfdrive/modeld/models/driving_tinygrad.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
+
+# 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/**

.travis.yml

@@ -1,23 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-install:
-  - docker build -t tmppilot -f Dockerfile.openpilot .
-
-script:
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
-  - docker run
-      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

.vscode/extensions.json

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

.vscode/launch.json

@@ -0,0 +1,70 @@
+{
+  "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": "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": "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

@@ -0,0 +1,27 @@
+{
+  "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/**",
+  ]
+}

CONTRIBUTING.md

@@ -1,31 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-
-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
-
-## Getting Started
-
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Testing
-
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
-
-### Automated Testing
-
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
-
-### Code Style and Linting
-
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

Dockerfile.openpilot

@@ -1,57 +1,14 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
+FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt-get update && apt-get install -y \
-    autoconf \
-    build-essential \
-    bzip2 \
-    clang \
-    git \
-    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
-    libffi-dev \
-    libglib2.0-0 \
-    libssl-dev \
-    libswscale-dev \
-    libtool \
-    libusb-1.0-0 \
-    libzmq5-dev \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    pkg-config \
-    python-pip \
-    wget
+ENV PYTHONUNBUFFERED=1
 
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
+ENV OPENPILOT_PATH=/home/batman/openpilot
 
-RUN pip install --upgrade pip==18.0
-RUN pip install pipenv==2018.11.26
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
 
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system
+COPY . ${OPENPILOT_PATH}/
 
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-
-RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1
-
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,81 @@
+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

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

LICENSE-MDI

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+      other entities that control, are controlled by, or are under common
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+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
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+      any Contribution intentionally submitted for inclusion in the Work
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+      whether in tort (including negligence), contract, or otherwise,
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+   See the License for the specific language governing permissions and
+   limitations under the License.

Makefile

@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-

Pipfile

@@ -1,140 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
-bincopy = "*"
-bleach = "==1.5.0"
-boto = "*"
-"boto3" = "*"
-celery = "*"
-control = "*"
-datadog = "*"
-decorator = "*"
-dlib = "*"
-dominate = "*"
-elasticsearch = "*"
-entium = "==0.1.4"
-fasteners = "*"
-future = "*"
-futures = "*"
-gevent = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "==0.9999999"
-imageio = "*"
-intervaltree = "*"
-ipykernel = "<5.0"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-lxml = "*"
-matplotlib = "==2.2.3"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
-percache = "*"
-pprofile = "*"
-psutil = "*"
-pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "==0.1.17"
-pysendfile = "*"
-python-logstash = "*"
-pyvcd = "*"
-redis = "*"
-redlock = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-supervisor = "*"
-tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
-utm = "*"
-"v4l2" = "*"
-visdom = "*"
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Theano = "*"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "==1.2.7"
-uWSGI = "*"
-scipy = "*"
-fastcluster = "==1.1.25"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-pyflakes = "*"
-pylint = "*"
-pycryptodome = "*"
-
-[requires]
-python_version = "2.7"

README.md

@@ -1,233 +1,80 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+# StarPilot
 
-Welcome to openpilot
-======
+[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
+[![Discord](https://img.shields.io/discord/1387432184121393333?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)
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
+an open source driver assistance system.
 
-The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
-Table of Contents
-=======================
+Openpilot provides
+* Automated Lane Centering
+* Adaptive Cruise Control
+* Lane Change Assist
+* Driver Monitoring *without wheel nags*
 
-* [Community](#community)
-* [Hardware](#hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars](#community-maintained-cars)
-* [In Progress Cars](#in-progress-cars)
-* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
-* [Directory structure](#directory-structure)
-* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
-* [Testing on PC](#testing-on-pc)
-* [Contributing](#contributing)
-* [Licensing](#licensing)
+StarPilot was formerly a GM targeted fork,
+but [has expanded to offer Quality-Of-Life improvements for all](#features)!
 
----
+StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
+and supports the major features FrogPilot offers.
 
-Community
-------
+StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
+Stop by to chat or ask questions!
 
-openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
+## Documentation
 
-We have a [Twitter you should follow](https://twitter.com/comma_ai).
+Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
+installation guides, and software configuration.
 
-Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
+## Features
 
-<table>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
-  </tr>
-</table>
+* Full support for Comma C3, C3X, and C4
+* Model switcher with all of comma's tinygrad driving models
+* Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
+* Custom-tuned torque controllers for an expanding list of cars.
+* 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)
+* And more!
 
-Hardware
-------
+\* [Inherited from FrogPilot](https://github.com/FrogAi/FrogPilot#openpilot-vs-frogpilot)
 
-At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
+## GM-only Features
 
-Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
+* 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
 
-Supported Cars
-------
+## Developer Features
 
-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
-| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018               | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+* 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
 
-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
-<sup>4</sup>Subaru Giraffe is DIY. <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
-
-Community Maintained Cars
-------
-
-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
-
-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
-
-Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
-
-In Progress Cars
-------
-- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
-- All Hyundai with SmartSense.
-- All Kia with SCC and LKAS.
-- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
-
-How can I add support for my car?
-------
-
-If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
-
-We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
-
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
-- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
-- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
-
-Directory structure
-------
-    .
-    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec used for all logs on EON
-    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN and LIN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── can             # Helpers for parsing CAN messages
-        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── test            # Car simulator running code through virtual maneuvers
-        ├── ui              # The UI
-        └── visiond         # Vision pipeline
-
-To understand how the services interact, see `selfdrive/service_list.yaml`
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The user facing camera is only logged if you explicitly opt-in in settings.
-It does not log the microphone.
-
-By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-Testing on PC
-------
-
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
-
-```bash
-# Requires working docker
-./run_docker_tests.sh
-```
-
-Contributing
-------
-
-We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
-
-We also have a [bounty program](https://comma.ai/bounties.html).
-
-Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
-
-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>
+## 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.

README_chffrplus.md

@@ -1,36 +0,0 @@
-Welcome to chffrplus
-======
-
-[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
-
-This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
-
-It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
-
-
-Hardware
-------
-
-Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
-
-Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
-
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default chffrplus creates an account and includes a client for chffr, our dashcam app.
-
-It's open source software, so you are free to disable it if you wish. 
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-
-Licensing
-------
-
-chffrplus is released under the MIT license.
-

RELEASES.md

@@ -1,3 +1,695 @@
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
+
+Version 0.10.2 (2025-11-19)
+========================
+* comma four support
+
+Version 0.10.1 (2025-09-08)
+========================
+* New driving model #36276
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * VAE Compression Model: new architecture and training objective
+  * Driving Vision Model: trained on 4x the number of segments
+* New Driver Monitoring model #36198
+* Acura TLX 2021 support thanks to MVL!
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
+
+Version 0.10.0 (2025-08-05)
+========================
+* New driving model
+  * New training architecture
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+  * Low-speed lead car ground-truth fixes
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
+
+Version 0.9.9 (2025-05-23)
+========================
+* New driving model
+  * New training architecture using parts from MLSIM
+* Steering actuation delay is now learned online
+* Ford Escape 2023-24 support thanks to incognitojam!
+* Ford Kuga 2024 support thanks to incognitojam!
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
+* Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Lexus RC 2023 support thanks to nelsonjchen!
+
+Version 0.9.8 (2025-02-28)
+========================
+* New driving model
+  * Model now gates applying positive acceleration in Chill mode
+* New driver monitoring model
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for bigger driving models
+  * Power draw reduced 0.5W, which means your device runs cooler
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Localizer rewritten to remove GPS dependency at runtime
+* Firehose Mode for maximizing your training data uploads
+* Enable openpilot longitudinal control for Ford Q3 vehicles
+* New Toyota TSS2 longitudinal tune
+* Rivian R1S and R1T support thanks to lukasloetkolben!
+* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
+
+Version 0.9.7 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+
+Version 0.9.6 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
+========================
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Re-tuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Re-tuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
+Version 0.7 (2019-12-13)
+========================
+ * Move to SCons build system!
+ * Add Lane Departure Warning (LDW) for all supported vehicles!
+ * NEOS update: increase wifi speed thanks to jyoung8607!
+ * Adaptive driver monitoring based on scene
+ * New driving model trained end-to-end: improve lane lines and lead detection
+ * Smarter torque limit alerts for all cars
+ * 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
+ * Forward stock FCW for Honda Nidec
+ * Volkswagen port now standard: comma Harness intercepts stock camera
+
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
 Version 0.6 (2019-07-01)
 ========================
  * New model, with double the pixels and ten times the temporal context!
@@ -8,7 +700,7 @@ Version 0.6 (2019-07-01)
  * Panda safety code is MISRA compliant and ships with a signed version on release2
  * New NEOS is 500MB smaller and has a reproducible usr/pipenv
  * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
  * Various other stability improvements
 
 Version 0.5.13 (2019-05-31)
@@ -18,7 +710,7 @@ 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 boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -314,96 +1006,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in pandad
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix pandad process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SAFETY.md

@@ -1,151 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
-pay attention at all times. We repeat, **driver alertness is necessary, but not 
-sufficient, for openpilot to be used safely**.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle, 
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-Following are details of the car specific safety implementations:
-
-Honda/Acura
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
-    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60%.
-
-  - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
-    This is approximately 0.3g of braking.
-
-  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
-    controller in the car limits the torque to a very small amount, so regardless of the 
-    message, the controller cannot jerk the wheel.
-
-  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
-    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
-    white led on the panda signifies if the panda is allowing control messages.
-
-  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
-
-Toyota/Lexus
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
-    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
-    control limits. Without the stock DSU connected, the acceleration command is controlled by the
-    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
-    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
-    Module (ECM) while the cruise control system is disengaged.
-
-  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
-    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
-    units above the actual EPS generated motor torque to ensure limited differences between
-    commanded and actual torques.
-
-  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
-    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
-    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
-    the brake pedal pressed signal.
-
-  - The cruise control system state is contained in the 0x1D2 message. No control messages are
-    allowed if the cruise control system is not active. This is enforced by openpilot and the
-    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
-
-GM/Chevrolet
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
-    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
-    while 3072 correspond to approximately 0.18g of acceleration from stop.
-
-  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
-    and openpilot to 350. This is approximately 0.3g of braking.
-
-  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
-    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
-    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
-    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
-    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
-    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
-
-  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
-
-Hyundai/Kia (Lateral only)
-------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
-    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-Chrysler/Jeep/Fiat (Lateral only)
-------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
-    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
-    units above the actual EPS generated motor torque to ensure limited differences between
-    commanded and actual torques.
-
-Subaru (Lateral only)
-------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
-    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.

SConstruct

@@ -0,0 +1,405 @@
+import os
+import shutil
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+force_tici = os.environ.get("SP_FORCE_TICI", "").lower() in {"1", "true", "yes", "on"}
+TICI = os.path.isfile('/TICI') or force_tici
+AGNOS = TICI
+
+Decider('MD5-timestamp')
+
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          help='the minimum build to run openpilot. no tests, tools, etc.')
+
+AddOption('--extras',
+          action='store_true',
+          dest='extras',
+          default=os.path.exists(File('#.lfsconfig').abspath),
+          help='build optional tools/tests even when minimal is the default')
+
+def maybe_delegate_to_laptop_device_builder() -> None:
+  if platform.system() != "Darwin":
+    return
+  if os.environ.get("SP_FORCE_ARCH"):
+    return
+  if os.environ.get("SP_SKIP_CONTAINER_REEXEC"):
+    return
+  if os.environ.get("SP_DISABLE_AUTO_DEVICE_SCONS", "").lower() in {"1", "true", "yes", "on"}:
+    return
+
+  basedir = Dir("#").abspath
+  sysroot_dir = os.environ.get("COMMA_SYSROOT_DIR", os.path.join(basedir, ".comma_sysroot"))
+  required_sysroot_dirs = (
+    "usr/local/lib",
+    "lib/aarch64-linux-gnu",
+    "usr/lib/aarch64-linux-gnu",
+    "system/vendor/lib64",
+  )
+  if not all(os.path.isdir(os.path.join(sysroot_dir, p)) for p in required_sysroot_dirs):
+    return
+
+  docker_bin = shutil.which("docker")
+  if docker_bin is None:
+    mac_docker = "/Applications/Docker.app/Contents/Resources/bin/docker"
+    if os.path.isfile(mac_docker):
+      docker_bin = mac_docker
+
+  if docker_bin is None and shutil.which("podman") is None:
+    return
+
+  builder = os.path.join(basedir, "scripts", "laptop_device_build.sh")
+  if not os.path.isfile(builder):
+    return
+
+  print(f"Auto-routing scons to laptop device build (sysroot: {sysroot_dir})", flush=True)
+  env = os.environ.copy()
+  env["SP_SKIP_CONTAINER_REEXEC"] = "1"
+  env.setdefault("COMMA_SYSROOT_DIR", sysroot_dir)
+  if docker_bin is not None and shutil.which("docker") is None:
+    docker_dir = os.path.dirname(docker_bin)
+    env["PATH"] = f"{docker_dir}:{env.get('PATH', '')}"
+
+  cmd = [builder, "build", *sys.argv[1:]]
+  raise SystemExit(subprocess.call(cmd, cwd=basedir, env=env))
+
+maybe_delegate_to_laptop_device_builder()
+
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+forced_arch = os.environ.get("SP_FORCE_ARCH")
+if forced_arch:
+  arch = forced_arch
+elif platform.system() == "Darwin":
+  arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
+  arch = "larch64"
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+
+# Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
+# Use the system toolchain explicitly on macOS for reliable local builds.
+cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
+cxx = '/usr/bin/clang++' if arch == "Darwin" else 'clang++'
+ar = '/usr/bin/ar' if arch == "Darwin" else 'ar'
+ranlib = '/usr/bin/ranlib' if arch == "Darwin" else 'ranlib'
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "PYTHONPATH": ":".join([
+    Dir("#").abspath,
+    Dir("#third_party/acados").abspath,
+    Dir("#opendbc_repo").abspath,
+  ]),
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+}
+
+# Allow callers to override cache/temp dirs used by subprocesses (e.g. tinygrad model compilation).
+for key in ("HOME", "TMPDIR", "XDG_CACHE_HOME", "CACHEDB", "PARAMS_ROOT"):
+  if key in os.environ:
+    lenv[key] = os.environ[key]
+
+rpath = []
+arch_ldflags = []
+
+def tici_libpath(path: str) -> str:
+  tici_sysroot = os.environ.get("SP_TICI_SYSROOT", "").strip().rstrip("/")
+  if arch != "larch64" or not tici_sysroot or not path.startswith("/"):
+    return path
+  return os.path.join(tici_sysroot, path.lstrip("/"))
+
+if arch == "larch64":
+  cpppath = [
+    "#third_party/opencl/include",
+    tici_libpath("/usr/local/include"),
+    tici_libpath("/usr/include"),
+    tici_libpath("/usr/include/aarch64-linux-gnu"),
+  ]
+
+  libpath = [
+    tici_libpath("/usr/local/lib"),
+    tici_libpath("/system/vendor/lib64"),
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/libyuv/larch64/lib",
+    tici_libpath("/lib/aarch64-linux-gnu"),
+    tici_libpath("/usr/lib/aarch64-linux-gnu")
+  ]
+  cflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
+  arch_ldflags += [
+    f"-Wl,-rpath-link,{tici_libpath('/usr/local/lib')}",
+    f"-Wl,-rpath-link,{tici_libpath('/lib/aarch64-linux-gnu')}",
+    f"-Wl,-rpath-link,{tici_libpath('/usr/lib/aarch64-linux-gnu')}",
+    f"-Wl,-rpath-link,{tici_libpath('/system/vendor/lib64')}",
+    f"-Wl,-rpath-link,{tici_libpath('/vendor/lib64')}",
+  ]
+  # On non-aarch64 hosts (e.g. Docker on macOS), force clang cross-targeting.
+  if platform.machine() not in ("aarch64", "arm64"):
+    cross_target = os.environ.get("SP_CROSS_TARGET", "aarch64-linux-gnu")
+    cflags += [f"--target={cross_target}"]
+    cxxflags += [f"--target={cross_target}"]
+    arch_ldflags += [f"--target={cross_target}"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+  rpath += []
+
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+ldflags += arch_ldflags
+
+# AGNOS devices are memory-constrained during on-device C++ compiles.
+# Building without debug symbols dramatically reduces peak clang memory and
+# prevents lowmemorykiller SIGKILLs (Error -9) on large translation units.
+use_debug_symbols = os.environ.get("SP_FORCE_DEBUG_SYMBOLS", "").lower() in {"1", "true", "yes", "on"}
+debug_flag = "-g" if (not AGNOS or use_debug_symbols) else "-g0"
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    debug_flag,
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-vla-cxx-extension",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party",
+    "#msgq",
+  ],
+
+  CC=cc,
+  CXX=cxx,
+  AR=ar,
+  RANLIB=ranlib,
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#msgq_repo",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#common",
+    "#rednose/helpers",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+)
+
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
+
+env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = os.environ.get("SP_SCONS_CACHE_DIR", "").strip()
+if not cache_dir:
+  cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
+if arch == "larch64" and platform.machine() not in ("aarch64", "arm64"):
+  tici_py_include = tici_libpath(f"/usr/include/python{sys.version_info.major}.{sys.version_info.minor}")
+  if os.path.isdir(tici_py_include):
+    py_include = tici_py_include
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+else:
+  envCython["LINKFLAGS"] = arch_ldflags + ["-pthread", "-shared"]
+
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
+
+Export('env', 'arch', 'real_arch')
+
+# Build common module
+SConscript(['common/SConscript'])
+Import('_common', '_gpucommon')
+
+common = [_common, 'json11', 'zmq']
+gpucommon = [_gpucommon]
+
+Export('common', 'gpucommon')
+
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+# Enable swaglog include in submodules
+env_swaglog = env.Clone()
+env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
+SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+
+SConscript(['cereal/SConscript'])
+
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
+Export('messaging')
+
+
+# Build other submodules
+SConscript(['panda/SConscript'])
+
+# Build rednose library
+SConscript(['rednose/SConscript'])
+
+# Build system services
+SConscript([
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
+])
+
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
+SConscript(['selfdrive/SConscript'])
+
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

SECURITY.md

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

build

@@ -0,0 +1,109 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+original_args=("$@")
+
+shortcut_targets=()
+passthrough_args=()
+shortcut_includes_panda=0
+panda_generated_files=(
+  "panda/board/obj/gitversion.h"
+  "panda/board/obj/version"
+)
+
+add_panda_targets() {
+  local variants=(
+    panda
+    panda_h7
+    panda_remote
+    panda_h7_remote
+    panda_hkg_remote
+    panda_h7_hkg_remote
+    panda_can_ignition_only
+    panda_h7_can_ignition_only
+    panda_remote_can_ignition_only
+    panda_h7_remote_can_ignition_only
+    panda_hkg_remote_can_ignition_only
+    panda_h7_hkg_remote_can_ignition_only
+    panda_jungle_h7
+    body_h7
+  )
+
+  local variant
+  for variant in "${variants[@]}"; do
+    shortcut_targets+=("panda/board/obj/${variant}.bin.signed")
+  done
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --params|-params|-param)
+      shortcut_targets+=("common/params_pyx.so")
+      ;;
+    --panda|-panda)
+      shortcut_includes_panda=1
+      add_panda_targets
+      ;;
+    --cereal|-cereal)
+      shortcut_targets+=(
+        "cereal/libcereal.a"
+        "cereal/libsocketmaster.a"
+        "cereal/messaging/bridge"
+        "cereal/services.h"
+      )
+      ;;
+    *)
+      if [[ "$1" =~ ^[0-9]+$ ]]; then
+        passthrough_args+=("-j$1")
+      else
+        passthrough_args+=("$1")
+      fi
+      ;;
+  esac
+  shift
+done
+
+if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then
+  scons_args=("--no-scrub")
+  scons_args+=("${shortcut_targets[@]}")
+  if [[ "${#passthrough_args[@]}" -gt 0 ]]; then
+    scons_args+=("${passthrough_args[@]}")
+  fi
+
+  if [[ "${shortcut_includes_panda}" -eq 1 ]]; then
+    exec "${ROOT_DIR}/scripts/laptop_device_build.sh" scons "${scons_args[@]}"
+  fi
+
+  tmpdir="$(mktemp -d)"
+  for path in "${panda_generated_files[@]}"; do
+    if [[ -e "${ROOT_DIR}/${path}" ]]; then
+      cp -p "${ROOT_DIR}/${path}" "${tmpdir}/${path//\//__}"
+    else
+      touch "${tmpdir}/${path//\//__}.missing"
+    fi
+  done
+
+  if "${ROOT_DIR}/scripts/laptop_device_build.sh" scons "${scons_args[@]}"; then
+    status=0
+  else
+    status=$?
+  fi
+
+  for path in "${panda_generated_files[@]}"; do
+    if [[ -e "${tmpdir}/${path//\//__}.missing" ]]; then
+      rm -f "${ROOT_DIR}/${path}"
+    else
+      cp -p "${tmpdir}/${path//\//__}" "${ROOT_DIR}/${path}"
+    fi
+  done
+  rm -rf "${tmpdir}"
+  exit "${status}"
+fi
+
+if [[ "${#original_args[@]}" -gt 0 ]]; then
+  exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "${original_args[@]}"
+fi
+
+exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build

c3

@@ -0,0 +1,6 @@
+#!/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

@@ -0,0 +1,6 @@
+#!/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

@@ -1,6 +0,0 @@
-gen
-node_modules
-package-lock.json
-*.pyc
-__pycache__
-

cereal/Makefile

@@ -1,62 +0,0 @@
-PWD := $(shell pwd)
-
-SRCS := log.capnp car.capnp
-
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js
-
-UNAME_M ?= $(shell uname -m)
-
-GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
-
-ifeq ($(UNAME_M),x86_64)
-
-ifneq (, $(shell which capnpc-java))
-GENS += gen/java/Car.java gen/java/Log.java
-else
-$(warning capnpc-java not found, skipping java build)
-endif
-
-endif
-
-
-ifeq ($(UNAME_M),aarch64)
-CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
-else
-CAPNPC=capnpc
-endif
-
-.PHONY: all
-all: $(GENS)
-js: $(JS)
-
-.PHONY: clean
-clean:
-	rm -rf gen
-	rm -rf node_modules
-	rm -rf package-lock.json
-
-gen/c/%.capnp.c: %.capnp
-	@echo "[ CAPNPC C ] $@"
-	mkdir -p gen/c/
-	$(CAPNPC) '$<' -o c:gen/c/
-
-gen/js/%.capnp.js: %.capnp
-	@echo "[ CAPNPC JavaScript ] $@"
-	mkdir -p gen/js/
-	sh ./generate_javascript.sh
-
-gen/cpp/%.capnp.c++: %.capnp
-	@echo "[ CAPNPC C++ ] $@"
-	mkdir -p gen/cpp/
-	$(CAPNPC) '$<' -o c++:gen/cpp/
-
-gen/java/Car.java gen/java/Log.java: $(SRCS)
-	@echo "[ CAPNPC java ] $@"
-	mkdir -p gen/java/
-	$(CAPNPC) $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
-	mkdir -p gen/c/include
-	touch '$@'

cereal/README.md

@@ -0,0 +1,95 @@
+# 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

@@ -0,0 +1,28 @@
+import subprocess
+
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_outputs = 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/")
+
+# capnpc embeds an exact compiler-version guard in every generated C++ header.
+# Include the tool version in the dependency signature so SCons cannot reuse
+# generated headers from a cache populated by another AGNOS/toolchain version.
+capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
+env.Depends(schema_outputs, env.Value(capnp_compiler_version))
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')

cereal/__init__.py

@@ -1,8 +1,11 @@
 import os
 import capnp
+from importlib.resources import as_file, files
 
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+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"))

cereal/car.capnp

@@ -1,387 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Car");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-struct CarEvent @0x9b1657f34caf3ad3 {
-  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;
-
-  enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
-    canError @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;
-    cruiseDisabled @14;
-    radarCanError @15;
-    dataNeeded @16;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    noTarget @25;
-    radarFault @26;
-    modelCommIssueDEPRECATED @27;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    lowSpeedLockout @31;
-    plannerError @32;
-    ipasOverride @33;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    calibrationProgress @47;
-    lowBattery @48;
-    invalidGiraffeHonda @49;
-    vehicleModelInvalid @50;
-    controlsFailed @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
-  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 + computer
-  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
-  brakeLights @19 :Bool;
-
-  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-
-  # 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;
-
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
-  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;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-  }
-
-
-  # 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;
-    }
-  }
-}
-
-# ******* 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;
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
-  actuators @6 :Actuators;
-
-  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;
-    steerAngle @3: Float32;
-  }
-
-  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;
-    }
-
-    enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
-    }
-  }
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-
-  enableGasInterceptor @2 :Bool;
-  enableCruise @3 :Bool;
-  enableCamera @4 :Bool;
-  enableDsu @5 :Bool; # driving support unit
-  enableApgs @6 :Bool; # advanced parking guidance system
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyParam @10 :Int16;
-
-  steerMaxBP @11 :List(Float32);
-  steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
-
-
-  # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (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;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indi @27 :LateralINDITuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping 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
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
-  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-
-  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 {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
-  }
-
-
-  enum SafetyModel {
-    # does NOT match board setting
-    noOutput @0;
-    honda @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBosch @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-    subaru @11;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-  }
-}

cereal/car.capnp

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

cereal/custom.capnp

@@ -0,0 +1,444 @@
+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;
+  pedalMaxRegen @23 :Bool;  # pedal at max regen, driver should use brake for more decel
+  pedalLongActive @24 :Bool;  # Pre-AP pedal longitudinal mode is active (enableLongControl)
+  teslaCCEngaged @25 :Bool;  # rising edge of stock Tesla CC engaging (no-pedal mode)
+  teslaCCDisengaged @26 :Bool;  # falling edge of stock Tesla CC
+  teslaCCNotArmed @27 :Bool;  # lateral engaged but DI_cruiseState != STANDBY/ENABLED
+  accelHardCruise @28 :Bool;  # current/releasing accel cruise button came from GM hard-press signal
+  decelHardCruise @29 :Bool;  # current/releasing decel cruise button came from GM hard-press signal
+  pulseAndGlide @30 :Bool;  # developer-only wheel-button pulse-and-glide mode is enabled
+}
+
+struct StarPilotDeviceState @0xda96579883444c35 {
+  freeSpace @0 :Int16;
+  usedSpace @1 :Int16;
+}
+
+struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
+  turnDirection @0 :TurnDirection;
+
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+}
+
+struct StarPilotOnroadEvents @0xa5cd762cd951a455 {
+  events @0 :List(StarPilotOnroadEvent);
+}
+
+struct StarPilotOnroadEvent @0xe344718567f9ce71 {
+  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;
+    lateralManeuver @33;
+    pedalCruiseEnabled @34;
+    pedalCruiseDisabled @35;
+    pedalMaxRegen @36;
+    teslaCCEngaged @37;
+    teslaCCDisengaged @38;
+    teslaCCNotArmed @39;
+    pedalNotCalibrated @40;
+  }
+}
+
+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;
+  pulseGlideCoasting @38 :Bool;  # developer-only P&G phase for on-road status UI
+}
+
+struct StarPilotRadarState @0xb86e6369214c01c8 {
+  leadLeft @0 :LeadData;
+  leadRight @1 :LeadData;
+  adjacentStopped @2 :AdjacentStopped;
+
+  # A vehicle in an adjacent lane that was observed MOVING and then came to rest.
+  # Distinct from leadLeft/leadRight, which are moving-target-only by design.
+  struct AdjacentStopped {
+    status @0 :Bool;
+    dRel @1 :Float32;
+    yRel @2 :Float32;
+    radarTrackId @3 :Int32 = -1;
+  }
+
+  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 StarPilotLateralManeuverPlanDEPRECATED @0xcb9fd56c7057593a {
+  desiredCurvature @0 :Float32;  # 1/m
+}
+
+struct StarPilotLateralState @0xc2243c65e0340384 {
+  active @0 :Bool;
+  frictionThreshold @1 :Float32;
+  frictionScale @2 :Float32;
+  feedforward @3 :Float32;
+  frictionJerk @4 :Float32;
+  frictionJerkDeadzone @5 :Float32;
+  lowSpeedFactor @6 :Float32;
+  unwindDetected @7 :Bool;
+}
+
+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/generate_javascript.sh

@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js

cereal/include/java.capnp

@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.

cereal/install_capnp.sh

@@ -1,39 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib

cereal/legacy.capnp

@@ -0,0 +1,574 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x80ef1ec4889c2a63;
+
+# legacy.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+

cereal/maptile.capnp

@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}

cereal/messaging/__init__.py

@@ -0,0 +1,302 @@
+# 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
+
+import os
+import capnp
+import time
+
+from typing import Optional, List, Union, Dict
+
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import MovingAverage
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
+def reset_context():
+  msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+    return msg
+
+
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
+  return dat
+
+
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+  """Receive all message currently available on the queue"""
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]
+
+
+# TODO: print when we drop packets?
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
+  dat = None
+
+  while 1:
+    if wait and dat is None:
+      recv = sock.receive()
+    else:
+      recv = sock.receive(non_blocking=True)
+
+    if recv is None:  # Timeout hit
+      break
+
+    dat = recv
+
+  if dat is not None:
+    dat = log_from_bytes(dat)
+
+  return dat
+
+
+def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  dat = sock.receive()
+  if dat is not None:
+    dat = log_from_bytes(dat)
+  return dat
+
+
+def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  dat = sock.receive(non_blocking=True)
+  if dat is not None:
+    dat = log_from_bytes(dat)
+  return dat
+
+
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
+  """Keep receiving until we get a message"""
+  while True:
+    dat = sock.receive()
+    if dat is not None:
+      return log_from_bytes(dat)
+
+
+class FrequencyTracker:
+  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
+    freq = max(min(service_freq, update_freq), 1.)
+    if is_poll:
+      min_freq = max_freq = freq
+    else:
+      max_freq = min(freq, update_freq)
+      if service_freq >= 2 * update_freq:
+        min_freq = update_freq
+      elif update_freq >= 2* service_freq:
+        min_freq = freq
+      else:
+        min_freq = min(freq, freq / 2.)
+
+    self.min_freq = min_freq * 0.8
+    self.max_freq = max_freq * 1.2
+    self.avg_dt = MovingAverage(int(10 * freq))
+    self.recent_avg_dt = MovingAverage(int(freq))
+    self.prev_time = 0.0
+
+  def record_recv_time(self, cur_time: float) -> None:
+    # TODO: Handle case where cur_time is less than prev_time
+    if self.prev_time > 1e-5:
+      dt = cur_time - self.prev_time
+
+      self.avg_dt.add_value(dt)
+      self.recent_avg_dt.add_value(dt)
+
+    self.prev_time = cur_time
+
+  @property
+  def valid(self) -> bool:
+    if self.avg_dt.count == 0:
+      return False
+
+    avg_freq = 1.0 / self.avg_dt.get_average()
+    if self.min_freq <= avg_freq <= self.max_freq:
+      return True
+
+    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
+    return self.min_freq <= avg_freq_recent <= self.max_freq
+
+
+class SubMaster:
+  def __init__(self, services: List[str], poll: Optional[str] = None,
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+    self.frame = -1
+    self.services = services
+    self.seen = {s: False for s in services}
+    self.updated = {s: False for s in services}
+    self.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
+    self.sock = {}
+    self.data = {}
+    self.logMonoTime = {s: 0 for s in services}
+
+    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.alive = {s: on_demand[s] for s in services}
+    self.freq_ok = {s: on_demand[s] for s in services}
+    self.valid = {s: on_demand[s] for s in services}
+
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.poller = Poller()
+    polled_services = set([poll, ] if poll is not None else services)
+    self.non_polled_services = set(services) - polled_services
+
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
+
+    # if freq and poll aren't specified, assume the max to be conservative
+    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
+    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
+
+    for s in services:
+      p = self.poller if s not in self.non_polled_services else None
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+
+      try:
+        data = new_message(s)
+      except capnp.lib.capnp.KjException:
+        data = new_message(s, 0) # lists
+
+      self.data[s] = getattr(data.as_reader(), s)
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
+
+    # StarPilot variables
+    self.addr = addr
+    self.poll = poll
+
+  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
+    return self.data[s]
+
+  def _check_avg_freq(self, s: str) -> bool:
+    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
+
+  def update(self, timeout: int = 100) -> None:
+    msgs = []
+    for sock in self.poller.poll(timeout):
+      msgs.append(recv_one_or_none(sock))
+
+    # non-blocking receive for non-polled sockets
+    for s in self.non_polled_services:
+      msgs.append(recv_one_or_none(self.sock[s]))
+    self.update_msgs(time.monotonic(), msgs)
+
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+    self.frame += 1
+    self.updated = dict.fromkeys(self.services, False)
+    for msg in msgs:
+      if msg is None:
+        continue
+
+      s = msg.which()
+      self.seen[s] = True
+      self.updated[s] = True
+
+      self.freq_tracker[s].record_recv_time(cur_time)
+      self.recv_time[s] = cur_time
+      self.recv_frame[s] = self.frame
+      self.data[s] = getattr(msg, s)
+      self.logMonoTime[s] = msg.logMonoTime
+      self.valid[s] = msg.valid
+
+    for s in self.static_freq_services:
+      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
+
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
+
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
+
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
+
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
+
+  # StarPilot variables
+  def extend(self, new_services: List[str]):
+    return SubMaster(
+      self.services + new_services,
+      poll=self.poll,
+      ignore_alive=self.ignore_alive,
+      ignore_avg_freq=self.ignore_average_freq,
+      ignore_valid=self.ignore_valid,
+      addr=self.addr,
+      frequency=None if self.poll is not None else self.update_freq,
+    )
+
+
+class PubMaster:
+  def __init__(self, services: List[str]):
+    self.sock = {}
+    self._zmq_readers_settled = set()
+    for s in services:
+      self.sock[s] = pub_sock(s)
+
+  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
+    if not isinstance(dat, bytes):
+      dat = dat.to_bytes()
+    self.sock[s].send(dat)
+
+  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
+    if "ZMQ" in os.environ:
+      if s not in self._zmq_readers_settled:
+        time.sleep(min(timeout, 1.0))
+        self._zmq_readers_settled.add(s)
+      elif dt >= 0.05:
+        time.sleep(min(timeout, 1.0))
+      return True
+    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

cereal/messaging/bridge.cc

@@ -0,0 +1,71 @@
+#include <cassert>
+
+#include "cereal/messaging/msgq_to_zmq.h"
+#include "cereal/services.h"
+#include "common/util.h"
+
+ExitHandler do_exit;
+
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
+  std::vector<std::string> service_list;
+  for (const auto& it : services) {
+    std::string name = it.second.name;
+    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
+    if (zmq_to_msgq && !in_whitelist) {
+      continue;
+    }
+    service_list.push_back(name);
+  }
+  return service_list;
+}
+
+void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  MsgqToZmq bridge;
+  bridge.run(endpoints, ip);
+}
+
+void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
+
+  for (auto endpoint : endpoints) {
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
+    sub_sock->connect(sub_context.get(), endpoint, ip, false);
+
+    poller->registerSocket(sub_sock);
+    sub2pub[sub_sock] = pub_sock;
+  }
+
+  while (!do_exit) {
+    for (auto sub_sock : poller->poll(100)) {
+      std::unique_ptr<Message> msg(sub_sock->receive(true));
+      if (msg) {
+        sub2pub[sub_sock]->sendMessage(msg.get());
+      }
+    }
+  }
+
+  // Clean up allocated sockets
+  for (auto &[sub_sock, pub_sock] : sub2pub) {
+    delete sub_sock;
+    delete pub_sock;
+  }
+}
+
+int main(int argc, char **argv) {
+  bool is_zmq_to_msgq = argc > 2;
+  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
+  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
+
+  if (is_zmq_to_msgq) {
+    zmq_to_msgq(endpoints, ip);
+  } else {
+    msgq_to_zmq(endpoints, ip);
+  }
+  return 0;
+}

cereal/messaging/messaging.h

@@ -0,0 +1,102 @@
+#pragma once
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include <utility>
+
+#include <capnp/serialize.h>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
+#include "msgq/ipc.h"
+
+class SubMaster {
+public:
+  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  void drain();
+  ~SubMaster();
+
+  uint64_t frame = 0;
+  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
+  uint64_t rcv_frame(const char *name) const;
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;
+
+private:
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class MessageBuilder : public capnp::MallocMessageBuilder {
+public:
+  MessageBuilder() = default;
+
+  cereal::Event::Builder initEvent(bool valid = true) {
+    cereal::Event::Builder event = initRoot<cereal::Event>();
+    event.setLogMonoTime(nanos_since_boot());
+    event.setValid(valid);
+    return event;
+  }
+
+  kj::ArrayPtr<capnp::byte> toBytes() {
+    heapArray_ = capnp::messageToFlatArray(*this);
+    return heapArray_.asBytes();
+  }
+
+  size_t getSerializedSize() {
+    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
+  }
+
+  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
+    size_t serialized_size = getSerializedSize();
+    if (serialized_size > buffer_size) { return -1; }
+    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
+    capnp::writeMessage(out, *this);
+    return serialized_size;
+  }
+
+private:
+  kj::Array<capnp::word> heapArray_;
+};
+
+class PubMaster {
+public:
+  PubMaster(const std::vector<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, MessageBuilder &msg);
+  ~PubMaster();
+
+private:
+  std::map<std::string, PubSocket *> sockets_;
+};
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};

cereal/messaging/msgq_to_zmq.cc

@@ -0,0 +1,144 @@
+#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

@@ -0,0 +1,37 @@
+#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

@@ -0,0 +1,204 @@
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
+
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
+  for (auto &v : list) {
+    if (strcmp(value, v) == 0) return true;
+  }
+  return false;
+}
+
+class MessageContext {
+public:
+  MessageContext() : ctx_(nullptr) {}
+  ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
+  Context *ctx_;
+  std::once_flag init_flag;
+};
+
+MessageContext message_context;
+
+struct SubMaster::SubMessage {
+  std::string name;
+  SubSocket *socket = nullptr;
+  float freq = 0.0f;
+  bool updated = false, alive = false, valid = false, ignore_alive;
+  uint64_t rcv_time = 0, rcv_frame = 0;
+  void *allocated_msg_reader = nullptr;
+  bool is_polled = false;
+  capnp::FlatArrayMessageReader *msg_reader = nullptr;
+  AlignedBuffer aligned_buf;
+  cereal::Event::Reader event;
+};
+
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
+                     const char *address, const std::vector<const char *> &ignore_alive) {
+  poller_ = Poller::create();
+  for (auto name : service_list) {
+    assert(services.count(std::string(name)) > 0);
+
+    service serv = services.at(std::string(name));
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
+    assert(socket != 0);
+    bool is_polled = inList(poll, name) || poll.empty();
+    if (is_polled) poller_->registerSocket(socket);
+    SubMessage *m = new SubMessage{
+      .name = name,
+      .socket = socket,
+      .freq = serv.frequency,
+      .ignore_alive = inList(ignore_alive, name),
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+      .is_polled = is_polled};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
+    messages_[socket] = m;
+    services_[name] = m;
+  }
+}
+
+void SubMaster::update(int timeout) {
+  for (auto &kv : messages_) kv.second->updated = false;
+
+  auto sockets = poller_->poll(timeout);
+
+  // add non-polled sockets for non-blocking receive
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    SubSocket *s = kv.first;
+    if (!m->is_polled) sockets.push_back(s);
+  }
+
+  uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
+  for (auto s : sockets) {
+    Message *msg = s->receive(true);
+    if (msg == nullptr) continue;
+
+    SubMessage *m = messages_.at(s);
+
+    m->msg_reader->~FlatArrayMessageReader();
+    capnp::ReaderOptions options;
+    options.traversalLimitInWords = kj::maxValue; // Don't limit
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for (auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
+    }
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
+    m->updated = true;
+    m->rcv_time = current_time;
+    m->rcv_frame = frame;
+    m->valid = m->event.getValid();
+    if (SIMULATION) m->alive = true;
+  }
+
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
+  }
+}
+
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
+  int found = 0;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
+    }
+  }
+  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
+}
+
+void SubMaster::drain() {
+  while (true) {
+    auto polls = poller_->poll(0);
+    if (polls.size() == 0)
+      break;
+
+    for (auto sock : polls) {
+      Message *msg = sock->receive(true);
+      delete msg;
+    }
+  }
+}
+
+bool SubMaster::updated(const char *name) const {
+  return services_.at(name)->updated;
+}
+
+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
+uint64_t SubMaster::rcv_frame(const char *name) const {
+  return services_.at(name)->rcv_frame;
+}
+
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
+  return services_.at(name)->event;
+}
+
+SubMaster::~SubMaster() {
+  delete poller_;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    m->msg_reader->~FlatArrayMessageReader();
+    free(m->allocated_msg_reader);
+    delete m->socket;
+    delete m;
+  }
+}
+
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
+  for (auto name : service_list) {
+    assert(services.count(name) > 0);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
+    assert(socket);
+    sockets_[name] = socket;
+  }
+}
+
+int PubMaster::send(const char *name, MessageBuilder &msg) {
+  auto bytes = msg.toBytes();
+  return send(name, bytes.begin(), bytes.size());
+}
+
+PubMaster::~PubMaster() {
+  for (auto s : sockets_) delete s.second;
+}

cereal/messaging/tests/test_messaging.py

@@ -0,0 +1,185 @@
+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

@@ -0,0 +1,160 @@
+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

@@ -0,0 +1,21 @@
+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

@@ -0,0 +1,105 @@
+/* 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}},
+  { "chestnutState", {"chestnutState", true, 10.000000, 10, 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}},
+  { "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 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}},
+  { "starpilotLateralState", {"starpilotLateralState", true, 100.000000, 10, 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

@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+from enum import IntEnum
+from typing import Optional
+
+
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
+class Service:
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
+    self.should_log = should_log
+    self.frequency = frequency
+    self.decimation = decimation
+    self.queue_size = queue_size
+
+
+_services: dict[str, tuple] = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
+  "touch": (True, 20., 1),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
+  "selfdriveState": (True, 100., 10),
+  "pandaStates": (True, 10., 1),
+  "peripheralState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (False, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
+  "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
+  "androidLog": (True, 0.),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
+  "driverAssistance": (True, 20., 20),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
+  "ubloxGnss": (True, 10.),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 0.1, 1),
+  "ubloxRaw": (True, 20.),
+  "livePose": (True, 20., 4),
+  "liveParameters": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
+  "thumbnail": (True, 1 / 60., 1),
+  "onroadEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "roadCameraState": (True, 20., 20),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20., None, QueueSize.BIG),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userBookmark": (True, 0., 1),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
+  "visionSpeedLimitBookmark": (False, 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),
+  "starpilotLateralState": (True, 100., 10),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+
+  # StarPilot variables
+  "starpilotCarControl": (True, 100., 10),
+  "starpilotCarParams": (True, 0.02, 1),
+  "starpilotCarState": (True, 100., 10),
+  "starpilotDeviceState": (True, 2., 1),
+  "starpilotModelV2": (True, 20.),
+  "starpilotOnroadEvents": (True, 1., 1),
+  "starpilotPlan": (True, 20., 10),
+  "starpilotRadarState": (True, 20., 5),
+  "starpilotSelfdriveState": (True, 100., 10),
+  "mapdExtendedOut": (True, 1., 1, QueueSize.MEDIUM),
+  "mapdIn": (True, 1., 1, QueueSize.MEDIUM),
+  "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
+}
+SERVICE_LIST = {name: Service(*vals) for
+                idx, (name, vals) in enumerate(_services.items())}
+
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+
+  h += "#include <map>\n"
+  h += "#include <string>\n"
+
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
+  h += "};\n"
+
+  h += "#endif\n"
+  return h
+
+
+if __name__ == "__main__":
+  print(build_header())

check_code_quality.sh

@@ -1,11 +0,0 @@
-#!/bin/bash
-
-pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-RESULT=$?
-if [ $RESULT -eq 0 ]; then
-    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-    RESULT=$? & 3
-fi
-
-[ $RESULT -ne 0 ] && exit 1
-exit 0

common/.gitignore

@@ -0,0 +1,2 @@
+*.cpp
+!params_pyx.cpp

common/SConscript

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

common/api.py

@@ -0,0 +1,64 @@
+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

@@ -1,15 +0,0 @@
-import requests
-
-from selfdrive.version import version
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
-
-  headers['User-Agent'] = "openpilot-" + version
-
-  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-

common/basedir.py

@@ -1,4 +1,4 @@
 import os
+
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-
-

common/clock.pyx

@@ -1,16 +0,0 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
-
-cdef double readclock(int 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

@@ -0,0 +1,129 @@
+#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/clutil.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/constants.py

@@ -0,0 +1,29 @@
+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/dbc.py

@@ -1,289 +0,0 @@
-import re
-import os
-import struct
-import sys
-import numbers
-from collections import namedtuple, defaultdict
-
-def int_or_float(s):
-  # return number, trying to maintain int format
-  if s.isdigit():
-    return int(s, 10)
-  else:
-    return float(s)
-
-DBCSignal = namedtuple(
-  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
-                "factor", "offset", "tmin", "tmax", "units"])
-
-
-class dbc(object):
-  def __init__(self, fn):
-    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
-      self.txt = f.readlines()
-    self._warned_addresses = set()
-
-    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
-    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
-    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
-
-    # A dictionary which maps message ids to tuples ((name, size), signals).
-    #   name is the ASCII name of the message.
-    #   size is the size of the message in bytes.
-    #   signals is a list signals contained in the message.
-    # signals is a list of DBCSignal in order of increasing start_bit.
-    self.msgs = {}
-
-    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
-    self.def_vals = defaultdict(list)
-
-    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
-
-    for l in self.txt:
-      l = l.strip()
-
-      if l.startswith("BO_ "):
-        # new group
-        dat = bo_regexp.match(l)
-
-        if dat is None:
-          print("bad BO {0}".format(l))
-
-        name = dat.group(2)
-        size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
-        if ids in self.msgs:
-          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
-
-        self.msgs[ids] = ((name, size), [])
-
-      if l.startswith("SG_ "):
-        # new signal
-        dat = sg_regexp.match(l)
-        go = 0
-        if dat is None:
-          dat = sgm_regexp.match(l)
-          go = 1
-
-        if dat is None:
-          print("bad SG {0}".format(l))
-
-        sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
-
-        self.msgs[ids][1].append(
-          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
-                    is_signed, factor, offset, tmin, tmax, units))
-
-      if l.startswith("VAL_ "):
-        # new signal value/definition
-        dat = val_regexp.match(l)
-
-        if dat is None:
-          print("bad VAL {0}".format(l))
-
-        ids = int(dat.group(1), 0) # could be hex
-        sgname = dat.group(2)
-        defvals = dat.group(3)
-
-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
-        defvals = defvals.split('"')[:-1]
-
-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
-        defvals = '"'+"".join(str(i) for i in defvals)+'"'
-
-        self.def_vals[ids].append((sgname, defvals))
-
-    for msg in self.msgs.values():
-      msg[1].sort(key=lambda x: x.start_bit)
-
-    self.msg_name_to_address = {}
-    for address, m in self.msgs.items():
-      name = m[0][0]
-      self.msg_name_to_address[name] = address
-
-  def lookup_msg_id(self, msg_id):
-    if not isinstance(msg_id, numbers.Number):
-      msg_id = self.msg_name_to_address[msg_id]
-    return msg_id
-
-  def reverse_bytes(self, x):
-    return ((x & 0xff00000000000000) >> 56) | \
-           ((x & 0x00ff000000000000) >> 40) | \
-           ((x & 0x0000ff0000000000) >> 24) | \
-           ((x & 0x000000ff00000000) >> 8) | \
-           ((x & 0x00000000ff000000) << 8) | \
-           ((x & 0x0000000000ff0000) << 24) | \
-           ((x & 0x000000000000ff00) << 40) | \
-           ((x & 0x00000000000000ff) << 56)
-
-  def encode(self, msg_id, dd):
-    """Encode a CAN message using the dbc.
-
-       Inputs:
-        msg_id: The message ID.
-        dd: A dictionary mapping signal name to signal data.
-    """
-    msg_id = self.lookup_msg_id(msg_id)
-
-    msg_def = self.msgs[msg_id]
-    size = msg_def[0][1]
-
-    result = 0
-    for s in msg_def[1]:
-      ival = dd.get(s.name)
-      if ival is not None:
-
-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
-        ival = (ival / s.factor) - s.offset
-        ival = int(round(ival))
-
-        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
-
-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
-
-        if s.is_little_endian:
-          mask = self.reverse_bytes(mask)
-          dat = self.reverse_bytes(dat)
-
-        result &= ~mask
-        result |= dat
-
-    result = struct.pack('>Q', result)
-    return result[:size]
-
-  def decode(self, x, arr=None, debug=False):
-    """Decode a CAN message using the dbc.
-
-       Inputs:
-        x: A collection with elements (address, time, data), where address is
-           the CAN address, time is the bus time, and data is the CAN data as a
-           hex string.
-        arr: Optional list of signals which should be decoded and returned.
-        debug: True to print debugging statements.
-
-       Returns:
-        A tuple (name, data), where name is the name of the CAN message and data
-        is the decoded result. If arr is None, data is a dict of properties.
-        Otherwise data is a list of the same length as arr.
-
-        Returns (None, None) if the message could not be decoded.
-    """
-
-    if arr is None:
-      out = {}
-    else:
-      out = [None]*len(arr)
-
-    msg = self.msgs.get(x[0])
-    if msg is None:
-      if x[0] not in self._warned_addresses:
-        #print("WARNING: Unknown message address {}".format(x[0]))
-        self._warned_addresses.add(x[0])
-      return None, None
-
-    name = msg[0][0]
-    if debug:
-      print(name)
-
-    st = x[2].ljust(8, '\x00')
-    le, be = None, None
-
-    for s in msg[1]:
-      if arr is not None and s[0] not in arr:
-        continue
-
-      start_bit = s[1]
-      signal_size = s[2]
-      little_endian = s[3]
-      signed = s[4]
-      factor = s[5]
-      offset = s[6]
-
-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
-      if little_endian:
-        if le is None:
-          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
-        tmp = le
-      else:
-        if be is None:
-          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
-        tmp = be
-
-      if shift_amount < 0:
-        continue
-
-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
-
-      tmp = tmp * factor + offset
-
-      # if debug:
-      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
-
-      if arr is None:
-        out[s[0]] = tmp
-      else:
-        out[arr.index(s[0])] = tmp
-    return name, out
-
-  def get_signals(self, msg):
-    msg = self.lookup_msg_id(msg)
-    return [sgs.name for sgs in self.msgs[msg][1]]
-
-
-if __name__ == "__main__":
-   from opendbc import DBC_PATH
-   import numpy as np
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
-   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x25, 0, encoded))
-   assert decoded == msg
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
-   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
-
-   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x2b0, 0, encoded))
-
-   assert decoded == msg

common/ffi_wrapper.py

@@ -1,49 +0,0 @@
-import os
-import sys
-import fcntl
-import hashlib
-from cffi import FFI
-
-
-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).hexdigest()
-  try:
-    os.mkdir(tmpdir)
-  except OSError:
-    pass
-
-  fd = os.open(tmpdir, 0)
-  fcntl.flock(fd, fcntl.LOCK_EX)
-  try:
-    sys.path.append(tmpdir)
-    try:
-      mod = __import__(cache)
-    except Exception:
-      print("cache miss {0}".format(cache))
-      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
-      mod = __import__(cache)
-  finally:
-    os.close(fd)
-
-  return mod.ffi, mod.lib
-
-
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
-  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = cflags
-  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
-
-
-def wrap_compiled(name, directory):
-  sys.path.append(directory)
-  mod = __import__(name)
-  return mod.ffi, mod.lib

common/file_chunker.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import io
+import math
+import os
+import sys
+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 _chunk_paths(path, num_chunks):
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+
+def get_chunk_paths(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
+
+get_chunk_targets = get_chunk_paths
+
+
+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 get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
+
+
+def file_chunked_exists(path) -> bool:
+  return os.path.isfile(path) or os.path.isfile(get_manifest_path(path))
+
+
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._paths = iter(paths)
+    self._file = None
+
+  def readable(self):
+    return True
+
+  def readinto(self, buffer):
+    count = 0
+    view = memoryview(buffer)
+    while count < len(buffer):
+      if self._file is None:
+        path = next(self._paths, None)
+        if path is None:
+          break
+        self._file = open(path, "rb")
+      bytes_read = self._file.readinto(view[count:])
+      if not bytes_read:
+        self._file.close()
+        self._file = None
+        continue
+      count += bytes_read
+    return count
+
+  def close(self):
+    if self._file is not None:
+      self._file.close()
+      self._file = None
+    super().close()
+
+
+def open_file_chunked(path):
+  chunks = get_existing_chunks(path)
+  if chunks and chunks[0] == get_manifest_path(path):
+    chunks = chunks[1:]
+  return io.BufferedReader(ChunkStream(chunks))
+
+
+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)
+
+
+if __name__ == "__main__":
+  file_path = sys.argv[1]
+  chunk_file(file_path, get_chunk_targets(file_path, os.path.getsize(file_path)))

common/file_helpers.py

@@ -1,103 +0,0 @@
-import os
-import shutil
-import tempfile
-from atomicwrites import AtomicWriter
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-def get_tmpdir_on_same_filesystem(path):
-  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1:
-    if parts[1].startswith("raid"):
-      if len(parts) > 2 and parts[2] == "runner":
-        return "/{}/runner/tmp".format(parts[1])
-      elif len(parts) > 2 and parts[2] == "aws":
-        return "/{}/aws/tmp".format(parts[1])
-      else:
-        return "/{}/tmp".format(parts[1])
-    elif parts[1] == "aws":
-      return "/aws/tmp"
-    elif parts[1] == "scratch":
-      return "/scratch/tmp"
-  return "/tmp"
-
-class AutoMoveTempdir(object):
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    if type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)
-
-class NamedTemporaryDir(object):
-  def __init__(self, temp_dir=None):
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    self.close()
-
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
-  return _get_fileobject
-
-def atomic_write_on_fs_tmp(path, **kwargs):
-  """Creates an atomic writer using a temporary file in a temporary directory
-     on the same filesystem as path.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
-
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-

common/filter_simple.py

@@ -1,10 +1,34 @@
-class FirstOrderFilter():
-  # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+class FirstOrderFilter:
+  def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      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/fingerprints.py

@@ -1,64 +0,0 @@
-import os
-from common.basedir import BASEDIR
-
-def get_fingerprint_list():
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique
-  #   CAN fingerprint of each car model and all its variants
-  fingerprints = {}
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
-      if hasattr(values, 'FINGERPRINTS'):
-        car_fingerprints = values.FINGERPRINTS
-      else:
-        continue
-      for f, v in car_fingerprints.items():
-        fingerprints[f] = v
-    except (ImportError, IOError):
-      pass
-  return fingerprints
-
-
-_FINGERPRINTS = get_fingerprint_list()
-
-_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
-
-def is_valid_for_fingerprint(msg, car_fingerprint):
-  adr = msg.address
-  bus = msg.src
-  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
-         bus != 0 or adr >= 0x800
-
-
-def eliminate_incompatible_cars(msg, candidate_cars):
-  """Removes cars that could not have sent msg.
-
-     Inputs:
-      msg: A cereal/log CanData message from the car.
-      candidate_cars: A list of cars to consider.
-
-     Returns:
-      A list containing the subset of candidate_cars that could have sent msg.
-  """
-  compatible_cars = []
-
-  for car_name in candidate_cars:
-    car_fingerprints = _FINGERPRINTS[car_name]
-
-    for fingerprint in car_fingerprints:
-      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
-
-      if is_valid_for_fingerprint(msg, fingerprint):
-        compatible_cars.append(car_name)
-        break
-
-  return compatible_cars
-
-
-def all_known_cars():
-  """Returns a list of all known car strings."""
-  return list(_FINGERPRINTS.keys())

common/git.py

@@ -0,0 +1,42 @@
+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

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

common/gps.py

@@ -0,0 +1,8 @@
+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/Makefile

@@ -1,10 +0,0 @@
-all: simple_kalman_impl.so
-
-simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
-	rm -rf build
-	rm simple_kalman_impl.c
-
-.PHONY: clean
-clean:
-	rm -f simple_kalman_impl.so

common/kalman/ekf.py

@@ -1,253 +0,0 @@
-# pylint: skip-file
-from __future__ import print_function
-import abc
-import numpy as np
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be
-  #   a full observation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print("reading:\n",reading.data)
-      print("innovation:\n",innovation)
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print("gain:\n", kalman_gain)
-      print("innovation_covar:\n", innovation_covar)
-      print("innovation: ", innovation)
-      print("test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I)
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print("After update")
-      print("state\n", self.state)
-      print("covar:\n",self.covar)
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurement is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
-    # self.state += np.matmul(kalman_gain, innovation)
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calculation of A and J
-    """
-
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj

common/kalman/simple_kalman.py

@@ -1,10 +0,0 @@
-# pylint: skip-file
-import os
-import subprocess
-
-kalman_dir = os.path.dirname(os.path.abspath(__file__))
-subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
-
-from simple_kalman_impl import KF1D as KF1D
-# Silence pyflakes
-assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -1,16 +0,0 @@
-cdef class KF1D:
-  cdef public:
-    double x0_0
-    double x1_0
-    double K0_0
-    double K1_0
-    double A0_0
-    double A0_1
-    double A1_0
-    double A1_1
-    double C0_0
-    double C0_1
-    double A_K_0
-    double A_K_1
-    double A_K_2
-    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -1,35 +0,0 @@
-
-cdef class KF1D:
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-  def update(self, meas):
-    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  @x.setter
-  def x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -1,23 +0,0 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = C
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x

common/kalman/simple_kalman_setup.py

@@ -1,5 +0,0 @@
-from distutils.core import setup, Extension
-from Cython.Build import cythonize
-
-setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))

common/kalman/tests/test_ekf.py

@@ -1,116 +0,0 @@
-import numpy as np
-import numpy.matlib
-import unittest
-import timeit
-
-from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
-
-class TestEKF(EKF):
-  def __init__(self, var_init, Q):
-    super(TestEKF, self).__init__(False)
-    self.identity = numpy.matlib.identity(2)
-    self.state = numpy.matlib.zeros((2, 1))
-    self.covar = self.identity * var_init
-
-    self.process_noise = numpy.matlib.diag(Q)
-
-  def calc_transfer_fun(self, dt):
-    tf = numpy.matlib.identity(2)
-    tf[0, 1] = dt
-    return tf, tf
-
-
-class EKFTest(unittest.TestCase):
-  def test_update_scalar(self):
-    ekf = TestEKF(1e3, [0.1, 1])
-    dt = 1. / 100
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(100, 300))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
-    np.testing.assert_allclose(
-      ekf.covar,
-      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
-      atol=1e-4)
-
-  def test_unbiased(self):
-    ekf = TestEKF(1e3, [0., 0.])
-    dt = np.float64(1. / 100)
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(1000))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
-
-
-class FastEKF1DTest(unittest.TestCase):
-  def test_correctness(self):
-    dt = 1. / 100
-    reading = SimpleSensor(0, 1, 2).read(100)
-
-    ekf = TestEKF(1e3, [0.1, 1])
-    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
-
-    ekf.update_scalar(reading)
-    fast_ekf.update_scalar(reading)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-    ekf.predict(dt)
-    fast_ekf.predict(dt)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-  def test_speed(self):
-    setup = """
-import numpy as np
-from common.kalman.tests.test_ekf import TestEKF
-from common.kalman.ekf import SimpleSensor, FastEKF1D
-
-dt = 1. / 100
-reading = SimpleSensor(0, 1, 2).read(100)
-
-var_init, Q = 1e3, [0.1, 1]
-ekf = TestEKF(var_init, Q)
-fast_ekf = FastEKF1D(dt, var_init, Q)
-    """
-
-    timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    ekf_speed = timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    fast_ekf_speed = timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    assert fast_ekf_speed < ekf_speed / 4
-
-if __name__ == "__main__":
-  unittest.main()

common/kalman/tests/test_simple_kalman.py

@@ -1,85 +0,0 @@
-import unittest
-import random
-import timeit
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.matrix([C0_0, C0_1]),
-                           K=np.matrix([[K0_0], [K1_0]]))
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.x = [[1.0], [1.0]]
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
-
-  def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
-
-  def test_old_equal_new(self):
-    for _ in range(1000):
-      v_wheel = random.uniform(0, 200)
-
-      x_old = self.kf_old.update(v_wheel)
-      x = self.kf.update(v_wheel)
-
-      # Compare the output x, verify that the error is less than 1e-4
-      self.assertAlmostEqual(x_old[0], x[0])
-      self.assertAlmostEqual(x_old[1], x[1])
-
-
-  def test_new_is_faster(self):
-    setup = """
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-dt = 0.01
-x0_0 = 0.0
-x1_0 = 0.0
-A0_0 = 1.0
-A0_1 = dt
-A1_0 = 0.0
-A1_1 = 1.0
-C0_0 = 1.0
-C0_1 = 0.0
-K0_0 = 0.12287673
-K1_0 = 0.29666309
-
-kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.matrix([C0_0, C0_1]),
-                  K=np.matrix([[K0_0], [K1_0]]))
-
-kf = KF1D(x0=[[x0_0], [x1_0]],
-          A=[[A0_0, A0_1], [A1_0, A1_1]],
-          C=[C0_0, C0_1],
-          K=[[K0_0], [K1_0]])
-    """
-    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
-    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
-    self.assertTrue(kf_speed < kf_old_speed / 4)