openpilot v0.8.2 release

openpilot v0.8.1 release
Fix commIssue due to frame drop and power draw (#2689 )
2026-09-12 11:13:46 +08:00 · 2021-02-23 16:46:22 -08:00 · 2020-12-18 10:57:05 +00:00 · 2020-12-04 10:41:00 +01:00 · 2020-11-24 21:53:25 +00:00
518 changed files with 20280 additions and 29265 deletions
@@ -1,4 +1,5 @@
 venv/
 .clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,7 +7,7 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
@@ -31,6 +32,7 @@ a.out
 *.vcd
 config.json
 clcache
 compile_commands.json
 persist
 board/obj/
@@ -42,6 +44,7 @@ selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
 selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
@@ -53,6 +56,7 @@ one
 openpilot
 notebooks
 xx
 hyperthneed
 panda_jungle
 apks
 openpilot-apks
@@ -66,3 +70,7 @@ pandaextra
 flycheck_*
 cppcheck_report.txt
 comma.sh
 selfdrive/modeld/thneed/compile
 models/*.thneed
@@ -2,7 +2,7 @@
 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/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
 ## Getting Started
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
 ## 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 and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
 ### Code Style and Linting
-Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
 ## 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. 
+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).
 ## Pull Requests
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
 ```
 Or alternatively, when on the master branch:
 ```
-git submodule init
+git submodule update --init
 git submodule update
 ```
 The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
 Modules that are in seperate repositories include:
 * apks
 * cereal
 * laika
 * opendbc
@@ -1,25 +1,39 @@
 def phone(String ip, String step_label, String cmd) {
  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
-    sh label: step_label,
+    def ssh_cmd = """
-        script: """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
-                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+
-echo \$\$ > /dev/cpuset/app/tasks || true
+set -e
-echo \$PPID > /dev/cpuset/app/tasks || true
+
-mkdir -p /dev/shm
+export CI=1
-chmod 777 /dev/shm
+export TEST_DIR=${env.TEST_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 source ~/.bash_profile
 ln -snf ${env.TEST_DIR} /data/pythonpath
 if [ -f /EON ]; then
  echo \$\$ > /dev/cpuset/app/tasks || true
  echo \$PPID > /dev/cpuset/app/tasks || true
  mkdir -p /dev/shm
  chmod 777 /dev/shm
 fi
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
 EOF"""
    sh script: ssh_cmd, label: step_label
  }
 }
 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
    timeout(time: 60, unit: 'MINUTES') {
      phone(device_ip, "kill old processes", "pkill -f comma || true")
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -40,7 +54,7 @@ pipeline {
  stages {
-    stage('Release Build') {
+    stage('Build release2') {
      agent {
        docker {
          image 'python:3.7.3'
@@ -104,16 +118,17 @@ pipeline {
          stages {
            stage('parallel tests') {
              parallel {
                stage('Devel Build') {
                  environment {
                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
                  }
                  steps {
-                    phone_steps("eon", [
+                    phone_steps("eon-build", [
                      ["build", "SCONS_CACHE=1 scons -j4"],
                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                      ["test manager", "python selfdrive/test/test_manager.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
                      ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
@@ -124,6 +139,7 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
                      ["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
                    ])
                  }
@@ -132,16 +148,33 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["build", "SCONS_CACHE=1 scons -j4"],
                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      //["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                      //["test updater", "python installer/updater/test_updater.py"],
                    ])
                  }
                }
                stage('Tici Build') {
                  environment {
                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                  }
                  steps {
                    phone_steps("tici", [
                      ["build", "SCONS_CACHE=1 scons -j16"],
                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
                    ])
                  }
                }
              }
            }
          }
@@ -158,3 +191,4 @@ pipeline {
    }
  }
 }
@@ -64,55 +64,62 @@ Supported Cars
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | AcuraWatch        | Stock            | 0mph               | 3mph              |
+| Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | CR-V 2017-20                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
-| Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2018                | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2016-18, 2021      | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius Prime 2021              | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 <sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/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. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
@@ -125,6 +132,7 @@ Community Maintained Cars and Features
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
 | Audi      | A3 2015, 2017                 | Prestige          | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -132,38 +140,40 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019-20        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-19, 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
 <sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
@@ -239,7 +249,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
 * The driver's face is partially or completely outside field of view of the driver facing camera.
 * Right hand driving vehicles.
 * The driver facing camera is obstructed, covered, or damaged.
 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
@@ -259,7 +268,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
 Safety and Testing
 ----
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
 * openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@@ -269,7 +278,7 @@ Safety and Testing
 Testing on PC
 ------
-For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes. 
+For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
 Steps:
 1) Start the CARLA server on first terminal
@@ -327,8 +336,6 @@ Directory Structure
        ├── test            # Unit tests, system tests and a car simulator
        └── ui              # The UI
 To understand how the services interact, see `cereal/service_list.yaml`.
 Licensing
 ------
@@ -1,3 +1,42 @@
 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
@@ -1,10 +1,10 @@
 import Cython
 import distutils
 import os
 import shutil
 import subprocess
 import sys
 import sysconfig
 import platform
 import numpy as np
 TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
@@ -17,9 +17,27 @@ AddOption('--asan',
          action='store_true',
          help='turn on ASAN')
-# Rebuild cython extensions if python, distutils, or cython change
+AddOption('--ubsan',
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
+          action='store_true',
-Export('cython_dependencies')
+          help='turn on UBSan')
 AddOption('--clazy',
          action='store_true',
          help='build with clazy')
 AddOption('--compile_db',
          action='store_true',
          help='build clang compilation database')
 AddOption('--mpc-generate',
          action='store_true',
          help='regenerates the mpc sources')
 AddOption('--external-sconscript',
          action='store',
          metavar='FILE',
          dest='external_sconscript',
          help='add an external SConscript to the build')
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -31,11 +49,12 @@ if arch == "aarch64" and TICI:
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 lenv = {
  "PATH": os.environ['PATH'],
 }
 if arch == "aarch64" or arch == "larch64":
-  lenv = {
+  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
    "PATH": os.environ['PATH'],
  }
  if arch == "aarch64":
    # android
@@ -47,6 +66,7 @@ if arch == "aarch64" or arch == "larch64":
  ]
  libpath = [
    "/usr/local/lib",
    "/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
@@ -75,17 +95,10 @@ if arch == "aarch64" or arch == "larch64":
    if QCOM_REPLAY:
      cflags += ["-DQCOM_REPLAY"]
      cxxflags += ["-DQCOM_REPLAY"]
 else:
  cflags = []
  cxxflags = []
-
+  cpppath = []
  lenv = {
    "PATH": "#external/bin:" + os.environ['PATH'],
  }
  cpppath = [
    "#external/tensorflow/include",
  ]
  if arch == "Darwin":
    libpath = [
@@ -93,15 +106,16 @@ else:
      "#cereal",
      "#selfdrive/common",
      "/usr/local/lib",
      "/usr/local/opt/openssl/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += ["/usr/local/opt/openssl/include"]
  else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/libyuv/x64/lib",
      "#external/tensorflow/lib",
      "#cereal",
      "#selfdrive/common",
      "/usr/lib",
@@ -110,7 +124,6 @@ else:
  rpath = [
    "phonelibs/snpe/x86_64-linux-clang",
    "external/tensorflow/lib",
    "cereal",
    "selfdrive/common"
  ]
@@ -119,11 +132,14 @@ else:
  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
 if GetOption('asan'):
-  ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags_asan = ["-fsanitize=address"]
+  ldflags = ["-fsanitize=address"]
 elif GetOption('ubsan'):
  ccflags = ["-fsanitize=undefined"]
  ldflags = ["-fsanitize=undefined"]
 else:
-  ccflags_asan = []
+  ccflags = []
-  ldflags_asan = []
+  ldflags = []
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
@@ -142,11 +158,12 @@ env = Environment(
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
-  ] + cflags + ccflags_asan,
+  ] + cflags + ccflags,
  CPPPATH=cpppath + [
    "#",
    "#selfdrive",
    "#phonelibs/catch2/include",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
@@ -159,6 +176,8 @@ env = Environment(
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
    "#phonelibs/nanovg",
    "#phonelibs/qrcode",
    "#selfdrive/boardd",
    "#selfdrive/common",
    "#selfdrive/camerad",
    "#selfdrive/camerad/include",
@@ -166,14 +185,15 @@ env = Environment(
    "#selfdrive/modeld",
    "#selfdrive/sensord",
    "#selfdrive/ui",
    "#cereal/messaging",
    "#cereal",
    "#cereal/messaging",
    "#cereal/visionipc",
    "#opendbc/can",
  ],
  CC='clang',
  CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,
  RPATH=rpath,
@@ -181,63 +201,27 @@ env = Environment(
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
    "#cereal",
    "#selfdrive/common",
    "#phonelibs",
-  ]
+    "#opendbc/can",
    "#selfdrive/boardd",
    "#selfdrive/common",
  ],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
  tools=["default", "cython", "compilation_db"],
 )
-qt_env = None
+if GetOption('compile_db'):
-if arch in ["x86_64", "Darwin", "larch64"]:
+  env.CompilationDatabase('compile_commands.json')
  qt_env = env.Clone()
  if arch == "Darwin":
    qt_env['QTDIR'] = "/usr/local/opt/qt"
    QT_BASE = "/usr/local/opt/qt/"
    qt_dirs = [
      QT_BASE + "include/",
      QT_BASE + "include/QtWidgets",
      QT_BASE + "include/QtGui",
      QT_BASE + "include/QtCore",
      QT_BASE + "include/QtDBus",
      QT_BASE + "include/QtMultimedia",
    ]
    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
  else:
    qt_env['QTDIR'] = "/usr"
    qt_dirs = [
      f"/usr/include/{real_arch}-linux-gnu/qt5",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
    ]
  qt_env.Tool('qt')
  qt_env['CPPPATH'] += qt_dirs
  qt_flags = [
    "-D_REENTRANT",
    "-DQT_NO_DEBUG",
    "-DQT_WIDGETS_LIB",
    "-DQT_GUI_LIB",
    "-DQT_CORE_LIB"
  ]
  qt_env['CXXFLAGS'] += qt_flags
 if os.environ.get('SCONS_CACHE'):
  cache_dir = '/tmp/scons_cache'
  if TICI:
    cache_dir = '/data/scons_cache'
-  if os.getenv('CI'):
+  if QCOM_REPLAY:
-    branch = os.getenv('GIT_BRANCH')
+    cache_dir = '/tmp/scons_cache_qcom_replay'
    if QCOM_REPLAY:
      cache_dir = '/tmp/scons_cache_qcom_replay'
    elif branch is not None and branch != 'master':
      cache_dir_branch = '/tmp/scons_cache_' + branch
      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
        shutil.copytree(cache_dir, cache_dir_branch)
      cache_dir = cache_dir_branch
  CacheDir(cache_dir)
 node_interval = 5
@@ -261,9 +245,84 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]
 # Cython build enviroment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
 envCython["LIBS"] = []
 if arch == "Darwin":
  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
  envCython["LINKFLAGS"] = ["-shared"]
  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 Export('envCython')
 # Qt build environment
 qt_env = None
 if arch in ["x86_64", "Darwin", "larch64"]:
  qt_env = env.Clone()
  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
  qt_libs = []
  if arch == "Darwin":
    qt_env['QTDIR'] = "/usr/local/opt/qt"
    QT_BASE = "/usr/local/opt/qt/"
    qt_dirs = [
      QT_BASE + "include/",
    ]
    qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
    qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
  else:
    qt_env['QTDIR'] = "/usr"
    qt_dirs = [
      f"/usr/include/{real_arch}-linux-gnu/qt5",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
    ]
    qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
    qt_libs = [f"Qt5{m}" for m in qt_modules]
    if arch == "larch64":
      qt_libs += ["GLESv2", "wayland-client"]
    elif arch != "Darwin":
      qt_libs += ["GL"]
  qt_env.Tool('qt')
  qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
  qt_flags = [
    "-D_REENTRANT",
    "-DQT_NO_DEBUG",
    "-DQT_WIDGETS_LIB",
    "-DQT_GUI_LIB",
    "-DQT_CORE_LIB"
  ]
  qt_env['CXXFLAGS'] += qt_flags
  qt_env['LIBPATH'] += ['#selfdrive/ui']
  qt_env['LIBS'] = qt_libs
  if GetOption("clazy"):
    checks = [
      "level0",
      "level1",
      "no-range-loop",
      "no-non-pod-global-static",
    ]
    qt_env['CXX'] = 'clazy'
    qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
    qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 Export('qt_env')
 # still needed for apks
 zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -273,26 +332,32 @@ if SHARED:
 else:
  cereal = [File('#cereal/libcereal.a')]
  messaging = [File('#cereal/libmessaging.a')]
  visionipc = [File('#cereal/libvisionipc.a')]
 Export('cereal', 'messaging')
 SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+Import('_common', '_gpucommon', '_gpu_libs')
 if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+  common, gpucommon = abspath(common), abspath(gpucommon)
 else:
  common = [_common, 'json11']
  visionipc = _visionipc
  gpucommon = [_gpucommon] + _gpu_libs
-Export('common', 'visionipc', 'gpucommon')
+Export('common', 'gpucommon', 'visionipc')
 # Build openpilot
 SConscript(['cereal/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 SConscript(['phonelibs/SConscript'])
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 SConscript(['phonelibs/SConscript'])
 SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
@@ -316,6 +381,10 @@ SConscript(['selfdrive/ui/SConscript'])
 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])
-
+if real_arch == "x86_64":
-if arch == "x86_64":
+  SConscript(['tools/nui/SConscript'])
  SConscript(['tools/lib/index_log/SConscript'])
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([external_sconscript])
@@ -1,14 +1,21 @@
 gen
 node_modules
 package-lock.json
 *.tmp
 *.pyc
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
 *.o
 *.a
 test_runner
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
 catch2/
@@ -1,34 +1,33 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
 import shutil
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')
-# TODO: remove src-prefix and cereal from command string. can we set working directory?
+# Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            ['car.capnp', 'log.capnp'],
+            schema_files,
-            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 if shutil.which('capnpc-java'):
  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              ['car.capnp', 'log.capnp'],
+              schema_files,
-              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
 # TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
  'gen/cpp/car.capnp.c++',
  'gen/cpp/log.capnp.c++',
 ])
 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
-cereal_dir = Dir('.')
+# Build messaging
-services_h = env.Command(['services.h'],
+
-                          ['service_list.yaml', 'services.py'],
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
@@ -51,14 +50,33 @@ if arch == "aarch64":
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
-# different target?
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
-env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
+# Build Vision IPC
-            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
+vipc_sources = [
-            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+  'visionipc/ipc.cc',
  'visionipc/visionipc_server.cc',
  'visionipc/visionipc_client.cc',
  'visionipc/visionbuf.cc',
 ]
 if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
  vipc_sources += ['visionipc/visionbuf_ion.cc']
 else:
  vipc_sources += ['visionipc/visionbuf_cl.cc']
 vipc_objects = env.SharedObject(vipc_sources)
 vipc = env.Library('visionipc', vipc_objects)
 libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
 if arch == "Darwin":
  del libs[libs.index('OpenCL')]
  envCython['FRAMEWORKS'] += ['OpenCL']
 envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
 if GetOption('test'):
  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
@@ -11,6 +11,8 @@ $Java.outerClassname("Car");
 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
@@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  permanent @8 :Bool; # alerts presented regardless of openpilot state
  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
@@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
    radarCanError @15;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -73,14 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
    invalidGiraffeToyota @60;
    internetConnectivityNeeded @61;
    communityFeatureDisallowed @62;
    lowMemory @63;
    stockAeb @64;
    ldw @65;
    carUnrecognized @66;
    radarCommIssue @67;
    driverMonitorLowAcc @68;
    invalidLkasSetting @69;
    speedTooHigh @70;
@@ -94,15 +91,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupMaster @78;
    fcw @79;
    steerSaturated @80;
    whitePandaUnsupported @81;
    startupGreyPanda @82;
    belowEngageSpeed @84;
    noGps @85;
    wrongCruiseMode @87;
    modeldLagging @89;
    deviceFalling @90;
    fanMalfunction @91;
    cameraMalfunction @92;
    gpsMalfunction @94;
    startupOneplus @82;
    processNotRunning @95;
    radarCanErrorDEPRECATED @15;
    radarCommIssueDEPRECATED @67;
    gasUnavailableDEPRECATED @3;
    dataNeededDEPRECATED @16;
    modelCommIssueDEPRECATED @27;
@@ -112,9 +113,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverMonitorOffDEPRECATED @42;
    calibrationProgressDEPRECATED @47;
    invalidGiraffeHondaDEPRECATED @49;
-    canErrorPersistentDEPRECATED @83;
+    invalidGiraffeToyotaDEPRECATED @60;
    internetConnectivityNeededDEPRECATED @61;
    whitePandaUnsupportedDEPRECATED @81;
    commIssueWarningDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
    modelLagWarningDEPRECATED @93;
  }
 }
@@ -122,7 +127,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 struct CarState {
  errorsDEPRECATED @0 :List(CarEvent.EventName);
  events @13 :List(CarEvent);
  # car speed
@@ -143,8 +147,8 @@ struct CarState {
  brakeLights @19 :Bool;
  # steering wheel
-  steeringAngle @7 :Float32;       # deg
+  steeringAngleDeg @7 :Float32;
-  steeringRate @15 :Float32;       # deg/s
+  steeringRateDeg @15 :Float32;
  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;        # if the user is using the steering wheel
@@ -232,6 +236,8 @@ struct CarState {
      gapAdjustCruise @11;
    }
  }
  errorsDEPRECATED @0 :List(CarEvent.EventName);
 }
 # ******* radar state @ 20hz *******
@@ -275,10 +281,6 @@ struct CarControl {
  enabled @0 :Bool;
  active @7 :Bool;
  gasDEPRECATED @1 :Float32;
  brakeDEPRECATED @2 :Float32;
  steeringTorqueDEPRECATED @3 :Float32;
  actuators @6 :Actuators;
  cruiseControl @4 :CruiseControl;
@@ -290,7 +292,7 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
  }
  struct CruiseControl {
@@ -326,8 +328,6 @@ struct CarControl {
    }
    enum AudibleAlert {
      # these are the choices from the Honda
      # map as good as you can for your car
      none @0;
      chimeEngage @1;
      chimeDisengage @2;
@@ -339,6 +339,10 @@ struct CarControl {
      chimeWarning2Repeat @8;
    }
  }
  gasDEPRECATED @1 :Float32;
  brakeDEPRECATED @2 :Float32;
  steeringTorqueDEPRECATED @3 :Float32;
 }
 # ****** car param ******
@@ -355,6 +359,7 @@ struct CarParams {
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
  maxSteeringAngleDeg @54 :Float32;
  safetyModel @9 :SafetyModel;
  safetyModelPassive @42 :SafetyModel = silent;
  safetyParam @10 :Int16;
@@ -396,11 +401,13 @@ struct CarParams {
  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
  steerControlType @34 :SteerControlType;
  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
  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
  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);
@@ -432,10 +439,19 @@ struct CarParams {
  }
  struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
+    outerLoopGainBP @4 :List(Float32);
-    innerLoopGain @1 :Float32;
+    outerLoopGainV @5 :List(Float32);
-    timeConstant @2 :Float32;
+    innerLoopGainBP @6 :List(Float32);
-    actuatorEffectiveness @3 :Float32;
+    innerLoopGainV @7 :List(Float32);
    timeConstantBP @8 :List(Float32);
    timeConstantV @9 :List(Float32);
    actuatorEffectivenessBP @10 :List(Float32);
    actuatorEffectivenessV @11 :List(Float32);
    outerLoopGainDEPRECATED @0 :Float32;
    innerLoopGainDEPRECATED @1 :Float32;
    timeConstantDEPRECATED @2 :Float32;
    actuatorEffectivenessDEPRECATED @3 :Float32;
  }
  struct LateralLQRTuning {
@@ -533,4 +549,6 @@ struct CarParams {
    fwdCamera @0;  # Standard/default integration at LKAS camera
    gateway @1;    # Integration at vehicle's CAN gateway
  }
  isPandaBlackDEPRECATED @39: Bool;
 }
@@ -0,0 +1,850 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 using Java = import "./include/java.capnp";
 $Java.package("ai.comma.openpilot.cereal");
 $Java.outerClassname("Legacy");
@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 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 QcomGnss @0xde94674b07ae51c1 {
  logTs @0 :UInt64;
  union {
    measurementReport @1 :MeasurementReport;
    clockReport @2 :ClockReport;
    drMeasurementReport @3 :DrMeasurementReport;
    drSvPoly @4 :DrSvPolyReport;
    rawLog @5 :Data;
  }
  enum MeasurementSource @0xd71a12b6faada7ee {
    gps @0;
    glonass @1;
    beidou @2;
  }
  enum SVObservationState @0xe81e829a0d6c83e9 {
    idle @0;
    search @1;
    searchVerify @2;
    bitEdge @3;
    trackVerify @4;
    track @5;
    restart @6;
    dpo @7;
    glo10msBe @8;
    glo10msAt @9;
  }
  struct MeasurementStatus @0xe501010e1bcae83b {
    subMillisecondIsValid @0 :Bool;
    subBitTimeIsKnown @1 :Bool;
    satelliteTimeIsKnown @2 :Bool;
    bitEdgeConfirmedFromSignal @3 :Bool;
    measuredVelocity @4 :Bool;
    fineOrCoarseVelocity @5 :Bool;
    lockPointValid @6 :Bool;
    lockPointPositive @7 :Bool;
    lastUpdateFromDifference @8 :Bool;
    lastUpdateFromVelocityDifference @9 :Bool;
    strongIndicationOfCrossCorelation @10 :Bool;
    tentativeMeasurement @11 :Bool;
    measurementNotUsable @12 :Bool;
    sirCheckIsNeeded @13 :Bool;
    probationMode @14 :Bool;
    glonassMeanderBitEdgeValid @15 :Bool;
    glonassTimeMarkValid @16 :Bool;
    gpsRoundRobinRxDiversity @17 :Bool;
    gpsRxDiversity @18 :Bool;
    gpsLowBandwidthRxDiversityCombined @19 :Bool;
    gpsHighBandwidthNu4 @20 :Bool;
    gpsHighBandwidthNu8 @21 :Bool;
    gpsHighBandwidthUniform @22 :Bool;
    multipathIndicator @23 :Bool;
    imdJammingIndicator @24 :Bool;
    lteB13TxJammingIndicator @25 :Bool;
    freshMeasurementIndicator @26 :Bool;
    multipathEstimateIsValid @27 :Bool;
    directionIsValid @28 :Bool;
  }
  struct MeasurementReport @0xf580d7d86b7b8692 {
    source @0 :MeasurementSource;
    fCount @1 :UInt32;
    gpsWeek @2 :UInt16;
    glonassCycleNumber @3 :UInt8;
    glonassNumberOfDays @4 :UInt16;
    milliseconds @5 :UInt32;
    timeBias @6 :Float32;
    clockTimeUncertainty @7 :Float32;
    clockFrequencyBias @8 :Float32;
    clockFrequencyUncertainty @9 :Float32;
    sv @10 :List(SV);
    struct SV @0xf10c595ae7bb2c27 {
      svId @0 :UInt8;
      observationState @2 :SVObservationState;
      observations @3 :UInt8;
      goodObservations @4 :UInt8;
      gpsParityErrorCount @5 :UInt16;
      glonassFrequencyIndex @1 :Int8;
      glonassHemmingErrorCount @6 :UInt8;
      filterStages @7 :UInt8;
      carrierNoise @8 :UInt16;
      latency @9 :Int16;
      predetectInterval @10 :UInt8;
      postdetections @11 :UInt16;
      unfilteredMeasurementIntegral @12 :UInt32;
      unfilteredMeasurementFraction @13 :Float32;
      unfilteredTimeUncertainty @14 :Float32;
      unfilteredSpeed @15 :Float32;
      unfilteredSpeedUncertainty @16 :Float32;
      measurementStatus @17 :MeasurementStatus;
      multipathEstimate @18 :UInt32;
      azimuth @19 :Float32;
      elevation @20 :Float32;
      carrierPhaseCyclesIntegral @21 :Int32;
      carrierPhaseCyclesFraction @22 :UInt16;
      fineSpeed @23 :Float32;
      fineSpeedUncertainty @24 :Float32;
      cycleSlipCount @25 :UInt8;
    }
  }
  struct ClockReport @0xca965e4add8f4f0b {
    hasFCount @0 :Bool;
    fCount @1 :UInt32;
    hasGpsWeek @2 :Bool;
    gpsWeek @3 :UInt16;
    hasGpsMilliseconds @4 :Bool;
    gpsMilliseconds @5 :UInt32;
    gpsTimeBias @6 :Float32;
    gpsClockTimeUncertainty @7 :Float32;
    gpsClockSource @8 :UInt8;
    hasGlonassYear @9 :Bool;
    glonassYear @10 :UInt8;
    hasGlonassDay @11 :Bool;
    glonassDay @12 :UInt16;
    hasGlonassMilliseconds @13 :Bool;
    glonassMilliseconds @14 :UInt32;
    glonassTimeBias @15 :Float32;
    glonassClockTimeUncertainty @16 :Float32;
    glonassClockSource @17 :UInt8;
    bdsWeek @18 :UInt16;
    bdsMilliseconds @19 :UInt32;
    bdsTimeBias @20 :Float32;
    bdsClockTimeUncertainty @21 :Float32;
    bdsClockSource @22 :UInt8;
    galWeek @23 :UInt16;
    galMilliseconds @24 :UInt32;
    galTimeBias @25 :Float32;
    galClockTimeUncertainty @26 :Float32;
    galClockSource @27 :UInt8;
    clockFrequencyBias @28 :Float32;
    clockFrequencyUncertainty @29 :Float32;
    frequencySource @30 :UInt8;
    gpsLeapSeconds @31 :UInt8;
    gpsLeapSecondsUncertainty @32 :UInt8;
    gpsLeapSecondsSource @33 :UInt8;
    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
    gpsToBdsTimeBiasMilliseconds @36 :Float32;
    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
    bdsToGloTimeBiasMilliseconds @38 :Float32;
    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
    gpsToGalTimeBiasMilliseconds @40 :Float32;
    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
    galToGloTimeBiasMilliseconds @42 :Float32;
    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
    galToBdsTimeBiasMilliseconds @44 :Float32;
    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
    hasRtcTime @46 :Bool;
    systemRtcTime @47 :UInt32;
    fCountOffset @48 :UInt32;
    lpmRtcCount @49 :UInt32;
    clockResets @50 :UInt32;
  }
  struct DrMeasurementReport @0x8053c39445c6c75c {
    reason @0 :UInt8;
    seqNum @1 :UInt8;
    seqMax @2 :UInt8;
    rfLoss @3 :UInt16;
    systemRtcValid @4 :Bool;
    fCount @5 :UInt32;
    clockResets @6 :UInt32;
    systemRtcTime @7 :UInt64;
    gpsLeapSeconds @8 :UInt8;
    gpsLeapSecondsUncertainty @9 :UInt8;
    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
    gpsWeek @12 :UInt16;
    gpsMilliseconds @13 :UInt32;
    gpsTimeBiasMs @14 :UInt32;
    gpsClockTimeUncertaintyMs @15 :UInt32;
    gpsClockSource @16 :UInt8;
    glonassClockSource @17 :UInt8;
    glonassYear @18 :UInt8;
    glonassDay @19 :UInt16;
    glonassMilliseconds @20 :UInt32;
    glonassTimeBias @21 :Float32;
    glonassClockTimeUncertainty @22 :Float32;
    clockFrequencyBias @23 :Float32;
    clockFrequencyUncertainty @24 :Float32;
    frequencySource @25 :UInt8;
    source @26 :MeasurementSource;
    sv @27 :List(SV);
    struct SV @0xf08b81df8cbf459c {
      svId @0 :UInt8;
      glonassFrequencyIndex @1 :Int8;
      observationState @2 :SVObservationState;
      observations @3 :UInt8;
      goodObservations @4 :UInt8;
      filterStages @5 :UInt8;
      predetectInterval @6 :UInt8;
      cycleSlipCount @7 :UInt8;
      postdetections @8 :UInt16;
      measurementStatus @9 :MeasurementStatus;
      carrierNoise @10 :UInt16;
      rfLoss @11 :UInt16;
      latency @12 :Int16;
      filteredMeasurementFraction @13 :Float32;
      filteredMeasurementIntegral @14 :UInt32;
      filteredTimeUncertainty @15 :Float32;
      filteredSpeed @16 :Float32;
      filteredSpeedUncertainty @17 :Float32;
      unfilteredMeasurementFraction @18 :Float32;
      unfilteredMeasurementIntegral @19 :UInt32;
      unfilteredTimeUncertainty @20 :Float32;
      unfilteredSpeed @21 :Float32;
      unfilteredSpeedUncertainty @22 :Float32;
      multipathEstimate @23 :UInt32;
      azimuth @24 :Float32;
      elevation @25 :Float32;
      dopplerAcceleration @26 :Float32;
      fineSpeed @27 :Float32;
      fineSpeedUncertainty @28 :Float32;
      carrierPhase @29 :Float64;
      fCount @30 :UInt32;
      parityErrorCount @31 :UInt16;
      goodParity @32 :Bool;
    }
  }
  struct DrSvPolyReport @0xb1fb80811a673270 {
    svId @0 :UInt16;
    frequencyIndex @1 :Int8;
    hasPosition @2 :Bool;
    hasIono @3 :Bool;
    hasTropo @4 :Bool;
    hasElevation @5 :Bool;
    polyFromXtra @6 :Bool;
    hasSbasIono @7 :Bool;
    iode @8 :UInt16;
    t0 @9 :Float64;
    xyz0 @10 :List(Float64);
    xyzN @11 :List(Float64);
    other @12 :List(Float32);
    positionUncertainty @13 :Float32;
    ionoDelay @14 :Float32;
    ionoDot @15 :Float32;
    sbasIonoDelay @16 :Float32;
    sbasIonoDot @17 :Float32;
    tropoDelay @18 :Float32;
    elevation @19 :Float32;
    elevationDot @20 :Float32;
    elevationUncertainty @21 :Float32;
    velocityCoeff @22 :List(Float64);
  }
 }
 struct LidarPts @0xe3d6685d4e9d8f7a {
  r @0 :List(UInt16);        # uint16   m*500.0
  theta @1 :List(UInt16);    # uint16 deg*100.0
  reflect @2 :List(UInt8);   # uint8      0-255
  # For storing out of file.
  idx @3 :UInt64;
  # For storing in file
  pkt @4 :Data;
 }
@@ -5,9 +5,10 @@
 #include <csignal>
 #include <cerrno>
-
+#include "services.h"
 #include "impl_msgq.hpp"
 volatile sig_atomic_t msgq_do_exit = 0;
 void sig_handler(int signal) {
@@ -15,14 +16,21 @@ void sig_handler(int signal) {
  msgq_do_exit = 1;
 }
 static bool service_exists(std::string path){
  for (const auto& it : services) {
    if (it.name == path) {
      return true;
    }
  }
  return false;
 }
 static size_t get_size(std::string endpoint){
  size_t sz = DEFAULT_SEGMENT_SIZE;
-#if !defined(QCOM) && !defined(QCOM2)
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
  if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
    sz *= 10;
  }
 #endif
  return sz;
 }
@@ -61,10 +69,14 @@ MSGQMessage::~MSGQMessage() {
  this->close();
 }
-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  assert(context);
  assert(address == "127.0.0.1");
  if (check_endpoint && !service_exists(std::string(endpoint))){
    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
  }
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -150,9 +162,13 @@ MSGQSubSocket::~MSGQSubSocket(){
  }
 }
-int MSGQPubSocket::connect(Context *context, std::string endpoint){
+int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  assert(context);
  if (check_endpoint && !service_exists(std::string(endpoint))){
    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
  }
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -34,7 +34,7 @@ private:
  msgq_queue_t * q = NULL;
  int timeout;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return (void*)q;}
  Message *receive(bool non_blocking=false);
@@ -45,7 +45,7 @@ class MSGQPubSocket : public PubSocket {
 private:
  msgq_queue_t * q = NULL;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
  ~MSGQPubSocket();
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
 }
-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
  if (sock == NULL){
    return -1;
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
  full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
    full_endpoint += std::to_string(get_port(endpoint));
  } else {
    full_endpoint += endpoint;
  }
  return zmq_connect(sock, full_endpoint.c_str());
 }
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
  zmq_close(sock);
 }
-int ZMQPubSocket::connect(Context *context, std::string endpoint){
+int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
  if (sock == NULL){
    return -1;
  }
  full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
    full_endpoint += std::to_string(get_port(endpoint));
  } else {
    full_endpoint += endpoint;
  }
  return zmq_bind(sock, full_endpoint.c_str());
 }
@@ -32,7 +32,7 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return sock;}
  Message *receive(bool non_blocking=false);
@@ -44,7 +44,7 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
  ~ZMQPubSocket();
@@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
 const bool MUST_USE_ZMQ = false;
 #endif
 bool messaging_use_zmq(){
  return std::getenv("ZMQ") || MUST_USE_ZMQ;
 }
 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    c = new ZMQContext();
  } else {
    c = new MSGQContext();
@@ -20,7 +24,7 @@ Context * Context::create(){
 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQSubSocket();
  } else {
    s = new MSGQSubSocket();
@@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
  return s;
 }
-SubSocket * SubSocket::create(Context * context, std::string endpoint){
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
  if (r == 0) {
    return s;
  } else {
    delete s;
    return NULL;
  }
 }
 SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
  SubSocket *s = SubSocket::create();
  int r = s->connect(context, endpoint, address);
  if (r == 0) {
    return s;
  } else {
    delete s;
    return NULL;
  }
 }
 SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
  SubSocket *s = SubSocket::create();
  int r = s->connect(context, endpoint, address, conflate);
  if (r == 0) {
    return s;
@@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQPubSocket();
  } else {
    s = new MSGQPubSocket();
@@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
  return s;
 }
-PubSocket * PubSocket::create(Context * context, std::string endpoint){
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
+  int r = s->connect(context, endpoint, check_endpoint);
  if (r == 0) {
    return s;
@@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    p = new ZMQPoller();
  } else {
    p = new MSGQPoller();
@@ -12,6 +12,8 @@
 #define MSG_MULTIPLE_PUBLISHERS 100
 bool messaging_use_zmq();
 class Context {
 public:
  virtual void * getRawContext() = 0;
@@ -32,24 +34,23 @@ public:
 class SubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
  virtual void setTimeout(int timeout) = 0;
  virtual Message *receive(bool non_blocking=false) = 0;
  virtual void * getRawSocket() = 0;
  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
  static SubSocket * create(Context * context, std::string endpoint, std::string address);
  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
  virtual ~SubSocket(){};
 };
 class PubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
  virtual int sendMessage(Message *message) = 0;
  virtual int send(char *data, size_t size) = 0;
  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
  virtual ~PubSocket(){};
 };
@@ -7,11 +7,11 @@ from libcpp cimport bool
 from libc cimport errno
-from messaging cimport Context as cppContext
+from .messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
+from .messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
+from .messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
+from .messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
+from .messaging cimport Message as cppMessage
 class MessagingError(Exception):
@@ -59,12 +59,12 @@ cdef class Poller:
    cdef int t = timeout
    with nogil:
-        result = self.poller.poll(t)
+      result = self.poller.poll(t)
    for s in result:
-        socket = SubSocket()
+      socket = SubSocket()
-        socket.setPtr(s)
+      socket.setPtr(s)
-        sockets.append(socket)
+      sockets.append(socket)
    return sockets
@@ -1,58 +0,0 @@
 import os
 import subprocess
 import sysconfig
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 from Cython.Build import cythonize
 from Cython.Distutils import build_ext
 TICI = os.path.isfile('/TICI')
 def get_ext_filename_without_platform_suffix(filename):
  name, ext = os.path.splitext(filename)
  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
  if ext_suffix == ext:
    return filename
  ext_suffix = ext_suffix.replace(ext, '')
  idx = name.find(ext_suffix)
  if idx == -1:
    return filename
  else:
    return name[:idx] + ext
 class BuildExtWithoutPlatformSuffix(build_ext):
  def get_ext_filename(self, ext_name):
    filename = super().get_ext_filename(ext_name)
    return get_ext_filename_without_platform_suffix(filename)
 sourcefiles = ['messaging_pyx.pyx']
 extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 if ARCH == "aarch64" and not TICI:
  # android
  extra_compile_args += ["-Wno-deprecated-register"]
  libraries += ['gnustl_shared']
 setup(name='messaging',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "messaging_pyx",
          language="c++",
          sources=sourcefiles,
          extra_compile_args=extra_compile_args,
          libraries=libraries,
          extra_objects=[
            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
          ]
        ),
        nthreads=4,
      ),
 )
@@ -21,8 +21,6 @@
 #include <stdio.h>
 #include "services.h"
 #include "msgq.hpp"
 void sigusr2_handler(int signal) {
@@ -83,20 +81,9 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
  return;
 }
 bool service_exists(std::string path){
  for (const auto& it : services) {
    if (it.name == path) {
      return true;
    }
  }
  return false;
 }
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
  if (!service_exists(std::string(path))){
    std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
  }
  std::signal(SIGUSR2, sigusr2_handler);
  const char * prefix = "/dev/shm/";
@@ -1,180 +0,0 @@
 # TODO: these port numbers are hardcoded in c, fix this
 # LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
 # all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
 # frame syncing packet
 frame: [8002, true, 20., 1]
 # accel, gyro, and compass
 sensorEvents: [8003, true, 100., 100]
 # GPS data, also global timestamp
 gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
 # CPU+MEM+GPU+BAT temps
 thermal: [8005, true, 2., 1]
 # List(CanData), list of can messages
 can: [8006, true, 100.]
 controlsState: [8007, true, 100., 100]
 #liveEvent: [8008, true, 0.]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
 radarState: [8012, true, 20., 5]
 #liveUI: [8014, true, 0.]
 encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
 sendcan: [8017, true, 100.]
 logMessage: [8018, true, 0.]
 liveCalibration: [8019, true, 4., 4]
 androidLog: [8020, true, 0.]
 carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
 plan: [8024, true, 20., 2]
 liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]
 qcomGnss: [8029, true, 0.]
 lidarPts: [8030, true, 0.]
 procLog: [8031, true, 0.5]
 gpsLocationExternal: [8032, true, 10., 1]
 ubloxGnss: [8033, true, 10.]
 clocks: [8034, true, 1., 1]
 liveMpc: [8035, false, 20.]
 liveLongitudinalMpc: [8036, false, 20.]
 navStatus: [8038, true, 0.]
 gpsLocationTrimble: [8039, true, 0.]
 trimbleGnss: [8041, true, 0.]
 ubloxRaw: [8042, true, 20.]
 gpsPlannerPoints: [8043, true, 0.]
 gpsPlannerPlan: [8044, true, 0.]
 applanixRaw: [8046, true, 0.]
 orbLocation: [8047, true, 0.]
 trafficEvents: [8048, true, 0.]
 liveLocationTiming: [8049, true, 0.]
 orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
 liveLocationKalman: [8054, true, 20., 2]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
 orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
 orbFeaturesSummary: [8062, true, 0.]
 driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 20., 2]
 liveMapData: [8065, true, 0.]
 cameraOdometry: [8066, true, 20., 5]
 pathPlan: [8067, true, 20., 2]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
 offroadLayout: [8074, false, 0.]
 wideEncodeIdx: [8075, true, 20.]
 wideFrame: [8076, true, 20.]
 modelV2: [8077, true, 20., 20]
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
 testJoystick: [8056, false, 0.]
 # 8080 is reserved for slave testing daemon
 # 8762 is reserved for logserver
 # manager -- base process to manage starting and stopping of all others
 #   subscribes: thermal
 # **** processes that communicate with the outside world ****
 # thermald -- decides when to start and stop onroad
 #   subscribes: health, location
 #   publishes: thermal
 # boardd -- communicates with the car
 #   subscribes: sendcan
 #   publishes: can, health, ubloxRaw
 # sensord -- publishes IMU and Magnetometer
 #   publishes: sensorEvents
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA
 # camerad -- publishes camera frames
 #   publishes: frame, frontFrame, thumbnail
 #   subscribes: driverState
 # dmonitoringmodeld -- runs face detection on camera frames
 #   publishes: driverState
 # **** stateful data transformers ****
 # modeld -- runs & publishes the model
 #   publishes: model, cameraOdometry
 #   subscribes: liveCalibration, pathPlan
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
 # controlsd -- drives the car by sending CAN messages to panda
 #   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
 # dmonitoringd -- processes driver monitoring data and publishes driver awareness
 #   subscribes: driverState, liveCalibration, carState, model, gpsLocation
 #   publishes: dMonitoringState
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks
 # params_learner -- learns vehicle params by observing the vehicle dynamics
 #   subscribes: controlsState, sensorEvents, cameraOdometry
 #   publishes: liveParameters
 # calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
 #   subscribes: cameraOdometry
 #   publishes: liveCalibration
 # ubloxd -- read raw ublox data and converts them in readable format
 #   subscribes: ubloxRaw
 #   publishes: ubloxGnss
 # **** LOGGING SERVICE ****
 # loggerd
 #   subscribes: EVERYTHING
 # **** NON VITAL SERVICES ****
 # ui
 #   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
 # uploader
 #   communicates through file system with loggerd
 # deleter
 #   communicates through file system with loggerd and uploader
 # logmessaged -- central logging service, can log to cloud
 #   publishes:  logMessage
 # logcatd -- fetches logcat info from android
 #   publishes:  androidLog
 # proclogd -- fetches process information
 #   publishes: procLog
 # tombstoned -- reports native crashes
 # athenad -- on request, open a sub socket and return the value
 # updated -- waits for network access and tries to update every hour
@@ -1,34 +1,84 @@
 #!/usr/bin/env python3
 import os
-import yaml
+from typing import Optional
 EON = os.path.isfile('/EON')
-class Service():
+class Service:
-  def __init__(self, port, should_log, frequency, decimation=None):
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation
 service_list = {
  "roadCameraState": Service(8002, True, 20., 1),
  "sensorEvents": Service(8003, True, 100., 100),
  "gpsNMEA": Service(8004, True, 9.),
  "deviceState": Service(8005, True, 2., 1),
  "can": Service(8006, True, 100.),
  "controlsState": Service(8007, True, 100., 100),
  "features": Service(8010, True, 0.),
  "pandaState": Service(8011, True, 2., 1),
  "radarState": Service(8012, True, 20., 5),
  "roadEncodeIdx": Service(8015, True, 20., 1),
  "liveTracks": Service(8016, True, 20.),
  "sendcan": Service(8017, True, 100.),
  "logMessage": Service(8018, True, 0.),
  "liveCalibration": Service(8019, True, 4., 4),
  "androidLog": Service(8020, True, 0., 1),
  "carState": Service(8021, True, 100., 10),
  "carControl": Service(8023, True, 100., 10),
  "longitudinalPlan": Service(8024, True, 20., 2),
  "liveLocation": Service(8025, True, 0., 1),
  "gpsLocation": Service(8026, True, 1., 1),
  "procLog": Service(8031, True, 0.5),
  "gpsLocationExternal": Service(8032, True, 10., 1),
  "ubloxGnss": Service(8033, True, 10.),
  "clocks": Service(8034, True, 1., 1),
  "liveMpc": Service(8035, False, 20.),
  "liveLongitudinalMpc": Service(8036, False, 20.),
  "ubloxRaw": Service(8042, True, 20.),
  "liveLocationKalman": Service(8054, True, 20., 2),
  "uiLayoutState": Service(8060, True, 0.),
  "liveParameters": Service(8064, True, 20., 2),
  "cameraOdometry": Service(8066, True, 20., 5),
  "lateralPlan": Service(8067, True, 20., 2),
  "thumbnail": Service(8069, True, 0.2, 1),
  "carEvents": Service(8070, True, 1., 1),
  "carParams": Service(8071, True, 0.02, 1),
  "driverCameraState": Service(8072, True, 10. if EON else 20., 1),
  "driverEncodeIdx": Service(8061, True, 10. if EON else 20., 1),
  "driverState": Service(8063, True, 10. if EON else 20., 1),
  "driverMonitoringState": Service(8073, True, 10. if EON else 20., 1),
  "offroadLayout": Service(8074, False, 0.),
  "wideRoadEncodeIdx": Service(8075, True, 20., 1),
  "wideRoadCameraState": Service(8076, True, 20., 1),
  "modelV2": Service(8077, True, 20., 20),
  "managerState": Service(8078, True, 2., 1),
-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+  "testModel": Service(8040, False, 0.),
  "testLiveLocation": Service(8045, False, 0.),
  "testJoystick": Service(8056, False, 0.),
 }
 service_list = {}
 with open(service_list_path, "r") as f:
  for k, v in yaml.safe_load(f).items():
    decimation = None
    if len(v) == 4:
      decimation = v[3]
-    service_list[k] = Service(v[0], v[1], v[2], decimation)
+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 += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
  h += "static struct service services[] = {\n"
  for k, v in service_list.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
    h += '  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
         (k, v.port, should_log, v.frequency, decimation)
  h += "};\n"
  h += "#endif\n"
  return h
 if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
+  print(build_header())
  print("#ifndef __SERVICES_H")
  print("#define __SERVICES_H")
  print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
  print("static struct service services[] = {")
  for k, v in service_list.items():
    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
  print("};")
  print("#endif")
@@ -0,0 +1,2 @@
 visionipc_pyx.cpp
 *.so
@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdbool.h>
 #include <string.h>
 #include <unistd.h>
 #include <assert.h>
@@ -10,16 +9,19 @@
 #include <sys/socket.h>
 #include <sys/un.h>
 #ifdef __APPLE__
 #define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
 #else
 #define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
 #endif
 #include "ipc.h"
 int ipc_connect(const char* socket_path) {
  int err;
-#ifdef __APPLE__
+  int sock = getsocket();
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
+
 #else
  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
 #endif
  if (sock < 0) return -1;
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
@@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {
  unlink(socket_path);
-#ifdef __APPLE__
+  int sock = getsocket();
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
+
 #else
  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
 #endif
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
  };
@@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      cmsg->cmsg_type = SCM_RIGHTS;
      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
    }
    return sendmsg(fd, &msg, 0);
  } else {
@@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
      recv_fds /= sizeof(int);
      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
      assert(fds && recv_fds <= num_fds);
      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
@@ -1,19 +1,7 @@
-#ifndef IPC_H
+#pragma once
-#define IPC_H
+#include <cstddef>
 #include <stdbool.h>
 #ifdef __cplusplus
 extern "C" {
 #endif
 int ipc_connect(const char* socket_path);
 int ipc_bind(const char* socket_path);
 int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
                          int *out_num_fds);
 #ifdef __cplusplus
 }  // extern "C"
 #endif
 #endif
@@ -0,0 +1,2 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
@@ -0,0 +1,40 @@
 #include "visionbuf.h"
 #define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
 #ifdef QCOM
 // from libadreno_utils.so
 extern "C" void compute_aligned_width_and_height(int width,
                                                 int height,
                                                 int bpp,
                                                 int tile_mode,
                                                 int raster_mode,
                                                 int padding_threshold,
                                                 int *aligned_w,
                                                 int *aligned_h);
 #endif
 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
 #if defined(QCOM) && !defined(QCOM_REPLAY)
  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
  *aligned_w = width; *aligned_h = height;
 #endif
 }
 void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
  this->rgb = true;
  this->width = width;
  this->height = height;
  this->stride = stride;
 }
 void VisionBuf::init_yuv(size_t width, size_t height){
  this->rgb = false;
  this->width = width;
  this->height = height;
  this->y = (uint8_t *)this->addr;
  this->u = this->y + (width * height);
  this->v = this->u + (width / 2 * height / 2);
 }
@@ -0,0 +1,63 @@
 #pragma once
 #include "visionipc.h"
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
 #else
 #include <CL/cl.h>
 #endif
 #define VISIONBUF_SYNC_FROM_DEVICE 0
 #define VISIONBUF_SYNC_TO_DEVICE 1
 enum VisionStreamType {
  VISION_STREAM_RGB_BACK,
  VISION_STREAM_RGB_FRONT,
  VISION_STREAM_RGB_WIDE,
  VISION_STREAM_YUV_BACK,
  VISION_STREAM_YUV_FRONT,
  VISION_STREAM_YUV_WIDE,
  VISION_STREAM_MAX,
 };
 class VisionBuf {
 public:
  size_t len = 0;
  size_t mmap_len = 0;
  void * addr = nullptr;
  int fd = 0;
  bool rgb = false;
  size_t width = 0;
  size_t height = 0;
  size_t stride = 0;
  // YUV
  uint8_t * y = nullptr;
  uint8_t * u = nullptr;
  uint8_t * v = nullptr;
  // Visionipc
  uint64_t server_id = 0;
  size_t idx = 0;
  VisionStreamType type;
  // OpenCL
  cl_mem buf_cl = nullptr;
  cl_command_queue copy_q = nullptr;
  // ion
  int handle = 0;
  bool owner = false;
  void allocate(size_t len);
  void import();
  void init_cl(cl_device_id device_id, cl_context ctx);
  void init_rgb(size_t width, size_t height, size_t stride);
  void init_yuv(size_t width, size_t height);
  void sync(int dir);
  void free();
 };
 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
@@ -0,0 +1,86 @@
 #include "visionbuf.h"
 #include <atomic>
 #include <stdio.h>
 #include <fcntl.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <sys/mman.h>
 #include <sys/types.h>
 std::atomic<int> offset = 0;
 static void *malloc_with_fd(size_t len, int *fd) {
  char full_path[0x100];
 #ifdef __APPLE__
  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
 #else
  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
 #endif
  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
  assert(*fd >= 0);
  unlink(full_path);
  ftruncate(*fd, len);
  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
  assert(addr != MAP_FAILED);
  return addr;
 }
 void VisionBuf::allocate(size_t len) {
  int fd;
  void *addr = malloc_with_fd(len, &fd);
  this->len = len;
  this->mmap_len = len;
  this->addr = addr;
  this->fd = fd;
 }
 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
  int err;
  this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
  assert(err == 0);
  this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
  assert(err == 0);
 }
 void VisionBuf::import(){
  assert(this->fd >= 0);
  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
  assert(this->addr != MAP_FAILED);
 }
 void VisionBuf::sync(int dir) {
  int err = 0;
  if (!this->buf_cl) return;
  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
    err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
  } else {
    err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
  }
  assert(err == 0);
  clFinish(this->copy_q);
 }
 void VisionBuf::free() {
  if (this->buf_cl){
    int err = clReleaseMemObject(this->buf_cl);
    assert(err == 0);
    clReleaseCommandQueue(this->copy_q);
  }
  munmap(this->addr, this->len);
  close(this->fd);
 }
@@ -36,7 +36,7 @@ static void ion_init() {
  }
 }
-VisionBuf visionbuf_allocate(size_t len) {
+void VisionBuf::allocate(size_t len) {
  int err;
  ion_init();
@@ -62,49 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {
  memset(addr, 0, ion_alloc.len);
-  return (VisionBuf){
+  this->owner = true;
-    .len = len,
+  this->len = len;
-    .mmap_len = ion_alloc.len,
+  this->mmap_len = ion_alloc.len;
-    .addr = addr,
+  this->addr = addr;
-    .handle = ion_alloc.handle,
+  this->handle = ion_alloc.handle;
-    .fd = ion_fd_data.fd,
+  this->fd = ion_fd_data.fd;
  };
 }
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
+void VisionBuf::import(){
-  VisionBuf buf = visionbuf_allocate(len);
+  int err;
-   int err = 0;
+  assert(this->fd >= 0);
-  assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
+  ion_init();
  // Get handle
  struct ion_fd_data fd_data = {0};
  fd_data.fd = this->fd;
  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
  assert(err == 0);
  this->owner = false;
  this->handle = fd_data.handle;
  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
  assert(this->addr != MAP_FAILED);
 }
 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
  int err;
  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
  cl_mem_ion_host_ptr ion_cl = {0};
  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = buf.fd;
+  ion_cl.ion_filedesc = this->fd;
-  ion_cl.ion_hostptr = buf.addr;
+  ion_cl.ion_hostptr = this->addr;
-  buf.buf_cl = clCreateBuffer(ctx,
+  this->buf_cl = clCreateBuffer(ctx,
                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              buf.len, &ion_cl, &err);
+                              this->len, &ion_cl, &err);
  assert(err == 0);
  return buf;
 }
-void visionbuf_sync(const VisionBuf* buf, int dir) {
+void VisionBuf::sync(int dir) {
  int err;
  struct ion_fd_data fd_data = {0};
  fd_data.fd = buf->fd;
  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
  assert(err == 0);
  struct ion_flush_data flush_data = {0};
-  flush_data.handle = fd_data.handle;
+  flush_data.handle = this->handle;
-  flush_data.vaddr = buf->addr;
+  flush_data.vaddr = this->addr;
  flush_data.offset = 0;
-  flush_data.length = buf->len;
+  flush_data.length = this->len;
  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
@@ -112,34 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {
  struct ion_custom_data custom_data = {0};
-  switch (dir) {
+   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
-  case VISIONBUF_SYNC_FROM_DEVICE:
+   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
-    custom_data.cmd = ION_IOC_INV_CACHES;
+     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
    break;
  case VISIONBUF_SYNC_TO_DEVICE:
    custom_data.cmd = ION_IOC_CLEAN_CACHES;
    break;
  default:
    assert(0);
  }
  custom_data.arg = (unsigned long)&flush_data;
  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
  assert(err == 0);
  struct ion_handle_data handle_data = {0};
  handle_data.handle = fd_data.handle;
  err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
  assert(err == 0);
 }
-void visionbuf_free(const VisionBuf* buf) {
+void VisionBuf::free() {
-  clReleaseMemObject(buf->buf_cl);
+  if (this->buf_cl){
-  munmap(buf->addr, buf->mmap_len);
+    int err = clReleaseMemObject(this->buf_cl);
-  close(buf->fd);
+    assert(err == 0);
-  struct ion_handle_data handle_data = {
+  }
-    .handle = buf->handle,
+
-  };
+  munmap(this->addr, this->mmap_len);
-  int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
+  close(this->fd);
-  assert(ret == 0);
+
  // Free the ION buffer if we also shared it
  if (this->owner){
    struct ion_handle_data handle_data = {.handle = this->handle};
    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
    assert(ret == 0);
  }
 }
@@ -0,0 +1,18 @@
 #pragma once
 #include <cstdint>
 #include <cstddef>
 constexpr int VISIONIPC_MAX_FDS = 64;
 struct VisionIpcBufExtra {
  uint32_t frame_id;
  uint64_t timestamp_sof;
  uint64_t timestamp_eof;
 };
 struct VisionIpcPacket {
  uint64_t server_id;
  size_t idx;
  struct VisionIpcBufExtra extra;
 };
@@ -0,0 +1,29 @@
 # distutils: language = c++
 #cython: language_level=3
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool
 cdef extern from "visionbuf.h":
  cdef enum VisionStreamType:
    pass
  cdef cppclass VisionBuf:
    void * addr
    size_t len
 cdef extern from "visionipc.h":
  struct VisionIpcBufExtra:
    uint32_t frame_id
    uint64_t timestamp_sof
    uint64_t timestamp_eof
 cdef extern from "visionipc_server.h":
  cdef cppclass VisionIpcServer:
    VisionIpcServer(string, void*, void*)
    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
    VisionBuf * get_buffer(VisionStreamType)
    void send(VisionBuf *, VisionIpcBufExtra *, bool)
    void start_listener()
@@ -0,0 +1,119 @@
 #include <chrono>
 #include <cassert>
 #include <iostream>
 #include <thread>
 #include "ipc.h"
 #include "visionipc_client.h"
 #include "visionipc_server.h"
 VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
  msg_ctx = Context::create();
  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
  poller = Poller::create();
  poller->registerSocket(sock);
 }
 // Connect is not thread safe. Do not use the buffers while calling connect
 bool VisionIpcClient::connect(bool blocking){
  connected = false;
  // Cleanup old buffers on reconnect
  for (size_t i = 0; i < num_buffers; i++){
    buffers[i].free();
  }
  num_buffers = 0;
  // Connect to server socket and ask for all FDs of type
  std::string path = "/tmp/visionipc_" + name;
  int socket_fd = -1;
  while (socket_fd < 0) {
    socket_fd = ipc_connect(path.c_str());
    if (socket_fd < 0) {
      if (blocking){
        std::cout << "VisionIpcClient connecting" << std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
      } else {
        return false;
      }
    }
  }
  // Send stream type to server to request FDs
  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
  assert(r == sizeof(type));
  // Get FDs
  int fds[VISIONIPC_MAX_FDS];
  VisionBuf bufs[VISIONIPC_MAX_FDS];
  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
  assert(num_buffers > 0);
  assert(r == sizeof(VisionBuf) * num_buffers);
  // Import buffers
  for (size_t i = 0; i < num_buffers; i++){
    buffers[i] = bufs[i];
    buffers[i].fd = fds[i];
    buffers[i].import();
    if (buffers[i].rgb) {
      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
    } else {
      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
    }
    if (device_id) buffers[i].init_cl(device_id, ctx);
  }
  connected = true;
  return true;
 }
 VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
  auto p = poller->poll(timeout_ms);
  if (!p.size()){
    return nullptr;
  }
  Message * r = sock->receive(true);
  if (r == nullptr){
    return nullptr;
  }
  // Get buffer
  assert(r->getSize() == sizeof(VisionIpcPacket));
  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
  assert(packet->idx < num_buffers);
  VisionBuf * buf = &buffers[packet->idx];
  if (buf->server_id != packet->server_id){
    connected = false;
    delete r;
    return nullptr;
  }
  if (extra) {
    *extra = packet->extra;
  }
  buf->sync(VISIONBUF_SYNC_TO_DEVICE);
  delete r;
  return buf;
 }
 VisionIpcClient::~VisionIpcClient(){
  for (size_t i = 0; i < num_buffers; i++){
    buffers[i].free();
  }
  delete sock;
  delete poller;
  delete msg_ctx;
 }
@@ -0,0 +1,32 @@
 #pragma once
 #include <vector>
 #include <string>
 #include <unistd.h>
 #include "messaging.hpp"
 #include "visionipc.h"
 #include "visionbuf.h"
 class VisionIpcClient {
 private:
  std::string name;
  Context * msg_ctx;
  SubSocket * sock;
  Poller * poller;
  VisionStreamType type;
  cl_device_id device_id = nullptr;
  cl_context ctx = nullptr;
  void init_msgq(bool conflate);
 public:
  bool connected = false;
  int num_buffers = 0;
  VisionBuf buffers[VISIONIPC_MAX_FDS];
  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
  ~VisionIpcClient();
  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
  bool connect(bool blocking=true);
 };
@@ -0,0 +1,49 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 import sys
 from libcpp.string cimport string
 from libcpp cimport bool
 from libc.string cimport memcpy
 from libc.stdint cimport uint32_t, uint64_t
 from .visionipc cimport VisionIpcServer as cppVisionIpcServer
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
 cpdef enum VisionStreamType:
  VISION_STREAM_RGB_BACK
  VISION_STREAM_RGB_FRONT
  VISION_STREAM_RGB_WIDE
  VISION_STREAM_YUV_BACK
  VISION_STREAM_YUV_FRONT
  VISION_STREAM_YUV_WIDE
 cdef class VisionIpcServer:
  cdef cppVisionIpcServer * server
  def __init__(self, string name):
    self.server = new cppVisionIpcServer(name, NULL, NULL)
  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
    self.server.create_buffers(tp, num_buffers, rgb, width, height)
  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
    # Populate buffer
    assert buf.len == len(data)
    memcpy(buf.addr, <char*>data, len(data))
    cdef VisionIpcBufExtra extra
    extra.frame_id = frame_id
    extra.timestamp_sof = timestamp_sof
    extra.timestamp_eof = timestamp_eof
    self.server.send(buf, &extra, False)
  def start_listener(self):
    self.server.start_listener()
  def __dealloc__(self):
    del self.server
@@ -0,0 +1,179 @@
 #include <iostream>
 #include <chrono>
 #include <cassert>
 #include <random>
 #include <poll.h>
 #include <sys/socket.h>
 #include <unistd.h>
 #include "messaging.hpp"
 #include "ipc.h"
 #include "visionipc_server.h"
 std::string get_endpoint_name(std::string name, VisionStreamType type){
  if (messaging_use_zmq()){
    assert(name == "camerad");
    return std::to_string(9000 + static_cast<int>(type));
  } else {
    return "visionipc_" + name + "_" + std::to_string(type);
  }
 }
 VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
  msg_ctx = Context::create();
  std::random_device rd("/dev/urandom");
  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
  server_id = distribution(rd);
 }
 void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
  // TODO: assert that this type is not created yet
  assert(num_buffers < VISIONIPC_MAX_FDS);
  int aligned_w = 0, aligned_h = 0;
  size_t size = 0;
  size_t stride = 0; // Only used for RGB
  if (rgb) {
    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
    size = (size_t)aligned_w * (size_t)aligned_h * 3;
    stride = aligned_w * 3;
  } else {
    size = width * height * 3 / 2;
  }
  // Create map + alloc requested buffers
  for (size_t i = 0; i < num_buffers; i++){
    VisionBuf* buf = new VisionBuf();
    buf->allocate(size);
    buf->idx = i;
    buf->type = type;
    if (device_id) buf->init_cl(device_id, ctx);
    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
    buffers[type].push_back(buf);
  }
  cur_idx[type] = 0;
  // Create msgq publisher for each of the `name` + type combos
  // TODO: compute port number directly if using zmq
  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
 }
 void VisionIpcServer::start_listener(){
  listener_thread = std::thread(&VisionIpcServer::listener, this);
 }
 void VisionIpcServer::listener(){
  std::cout << "Starting listener for: " << name << std::endl;
  std::string path = "/tmp/visionipc_" + name;
  int sock = ipc_bind(path.c_str());
  assert(sock >= 0);
  while (!should_exit){
    // Wait for incoming connection
    struct pollfd polls[1] = {{0}};
    polls[0].fd = sock;
    polls[0].events = POLLIN;
    int ret = poll(polls, 1, 100);
    if (ret < 0) {
      if (errno == EINTR || errno == EAGAIN) continue;
      std::cout << "poll failed, stopping listener" << std::endl;
      break;
    }
    if (should_exit) break;
    if (!polls[0].revents) {
      continue;
    }
    // Handle incoming request
    int fd = accept(sock, NULL, NULL);
    assert(fd >= 0);
    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
    assert(r == sizeof(type));
    if (buffers.count(type) <= 0) {
      std::cout << "got request for invalid buffer type: " << type << std::endl;
      close(fd);
      continue;
    }
    int fds[VISIONIPC_MAX_FDS];
    int num_fds = buffers[type].size();
    VisionBuf bufs[VISIONIPC_MAX_FDS];
    for (int i = 0; i < num_fds; i++){
      fds[i] = buffers[type][i]->fd;
      bufs[i] = *buffers[type][i];
      // Remove some private openCL/ion metadata
      bufs[i].buf_cl = 0;
      bufs[i].copy_q = 0;
      bufs[i].handle = 0;
      bufs[i].owner = false;
      bufs[i].server_id = server_id;
    }
    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
    close(fd);
  }
  std::cout << "Stopping listener for: " << name << std::endl;
  close(sock);
 }
 VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
  // Do we want to keep track if the buffer has been sent out yet and warn user?
  assert(buffers.count(type));
  auto b = buffers[type];
  return b[cur_idx[type]++ % b.size()];
 }
 void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
  if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
  assert(buffers.count(buf->type));
  assert(buf->idx < buffers[buf->type].size());
  // Send over correct msgq socket
  VisionIpcPacket packet = {0};
  packet.server_id = server_id;
  packet.idx = buf->idx;
  packet.extra = *extra;
  sockets[buf->type]->send((char*)&packet, sizeof(packet));
 }
 VisionIpcServer::~VisionIpcServer(){
  should_exit = true;
  listener_thread.join();
  // VisionBuf cleanup
  for( auto const& [type, buf] : buffers ) {
    for (VisionBuf* b : buf){
      b->free();
      delete b;
    }
  }
  // Messaging cleanup
  for( auto const& [type, sock] : sockets ) {
    delete sock;
  }
  delete msg_ctx;
 }
@@ -0,0 +1,42 @@
 #pragma once
 #include <vector>
 #include <string>
 #include <thread>
 #include <atomic>
 #include <map>
 #include "messaging.hpp"
 #include "visionipc.h"
 #include "visionbuf.h"
 std::string get_endpoint_name(std::string name, VisionStreamType type);
 class VisionIpcServer {
 private:
  cl_device_id device_id = nullptr;
  cl_context ctx = nullptr;
  uint64_t server_id;
  std::atomic<bool> should_exit = false;
  std::string name;
  std::thread listener_thread;
  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
  Context * msg_ctx;
  std::map<VisionStreamType, PubSocket*> sockets;
  void listener(void);
 public:
  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
  ~VisionIpcServer();
  VisionBuf * get_buffer(VisionStreamType type);
  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
  void start_listener();
 };
@@ -0,0 +1,135 @@
 #include <thread>
 #include <chrono>
 #include "catch2/catch.hpp"
 #include "visionipc_server.h"
 #include "visionipc_client.h"
 static void zmq_sleep(int milliseconds=1000){
  if (messaging_use_zmq()){
    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
  }
 }
 TEST_CASE("Connecting"){
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
  server.start_listener();
  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
  REQUIRE(client.connect());
  REQUIRE(client.connected);
 }
 TEST_CASE("Check buffers"){
  size_t width = 100, height = 200, num_buffers = 5;
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
  server.start_listener();
  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
  REQUIRE(client.connect());
  REQUIRE(client.buffers[0].width == width);
  REQUIRE(client.buffers[0].height == height);
  REQUIRE(client.buffers[0].len);
  REQUIRE(client.num_buffers == num_buffers);
 }
 TEST_CASE("Check yuv/rgb"){
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
  server.start_listener();
  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
  client_yuv.connect();
  client_rgb.connect();
  REQUIRE(client_rgb.buffers[0].rgb == true);
  REQUIRE(client_yuv.buffers[0].rgb == false);
 }
 TEST_CASE("Send single buffer"){
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
  server.start_listener();
  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
  REQUIRE(client.connect());
  zmq_sleep();
  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
  REQUIRE(buf != nullptr);
  *((uint64_t*)buf->addr) = 1234;
  VisionIpcBufExtra extra = {0};
  extra.frame_id = 1337;
  server.send(buf, &extra);
  VisionIpcBufExtra extra_recv = {0};
  VisionBuf * recv_buf = client.recv(&extra_recv);
  REQUIRE(recv_buf != nullptr);
  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
  REQUIRE(extra_recv.frame_id == extra.frame_id);
 }
 TEST_CASE("Test no conflate"){
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
  server.start_listener();
  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
  REQUIRE(client.connect());
  zmq_sleep();
  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
  REQUIRE(buf != nullptr);
  VisionIpcBufExtra extra = {0};
  extra.frame_id = 1;
  server.send(buf, &extra);
  extra.frame_id = 2;
  server.send(buf, &extra);
  VisionIpcBufExtra extra_recv = {0};
  VisionBuf * recv_buf = client.recv(&extra_recv);
  REQUIRE(recv_buf != nullptr);
  REQUIRE(extra_recv.frame_id == 1);
  recv_buf = client.recv(&extra_recv);
  REQUIRE(recv_buf != nullptr);
  REQUIRE(extra_recv.frame_id == 2);
 }
 TEST_CASE("Test conflate"){
  VisionIpcServer server("camerad");
  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
  server.start_listener();
  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
  REQUIRE(client.connect());
  zmq_sleep();
  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
  REQUIRE(buf != nullptr);
  VisionIpcBufExtra extra = {0};
  extra.frame_id = 1;
  server.send(buf, &extra);
  extra.frame_id = 2;
  server.send(buf, &extra);
  VisionIpcBufExtra extra_recv = {0};
  VisionBuf * recv_buf = client.recv(&extra_recv);
  REQUIRE(recv_buf != nullptr);
  REQUIRE(extra_recv.frame_id == 2);
  recv_buf = client.recv(&extra_recv);
  REQUIRE(recv_buf == nullptr);
 }
@@ -1,14 +1,4 @@
-Import('env', 'cython_dependencies')
+Import('envCython')
-# Build cython clock module
+envCython.Program('clock.so', 'clock.pyx')
-env.Command(['common_pyx.so', 'clock.cpp'],
+envCython.Program('params_pyx.so', 'params_pyx.pyx')
            cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
            "cd common && python3 common_pyx_setup.py build_ext --inplace")
 # Build cython params module
 env.Command(['params_pyx.so', 'params_pyx.cpp'],
            cython_dependencies + [
                'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
                '#selfdrive/common/params.cc', '#selfdrive/common/params.h',
                '#selfdrive/common/util.c', '#selfdrive/common/util.h'],
            "cd common && python3 params_pyx_setup.py build_ext --inplace")
@@ -27,7 +27,11 @@ class Api():
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
    if isinstance(token, bytes):
      token = token.decode('utf8')
    return token
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
@@ -1,8 +1,11 @@
 import os
 from pathlib import Path
 from selfdrive.hardware import PC
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 from common.hardware import PC
 if PC:
-  PERSIST = os.path.join(BASEDIR, "persist")
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
  PERSIST = "/persist"
@@ -1,3 +1,4 @@
 # distutils: language = c++
 # cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
@@ -1,20 +0,0 @@
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 sourcefiles = ['clock.pyx']
 extra_compile_args = ["-std=c++1z"]
 setup(name='common',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "common_pyx",
          language="c++",
          sources=sourcefiles,
          extra_compile_args=extra_compile_args,
        ),
        nthreads=4,
      ),
 )
@@ -1,11 +1,3 @@
 GPIO_HUB_RST_N = 30
 GPIO_UBLOX_RST_N = 32
 GPIO_UBLOX_SAFEBOOT_N = 33
 GPIO_UBLOX_PWR_EN = 34
 GPIO_STM_RST_N = 124
 GPIO_STM_BOOT0 = 134
 def gpio_init(pin, output):
  try:
    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
@@ -1,57 +0,0 @@
 import os
 import random
 from typing import cast
 from cereal import log
 from common.hardware_android import Android
 from common.hardware_tici import Tici
 from common.hardware_base import HardwareBase
 EON = os.path.isfile('/EON')
 TICI = os.path.isfile('/TICI')
 PC = not (EON or TICI)
 ANDROID = EON
 NetworkType = log.ThermalData.NetworkType
 NetworkStrength = log.ThermalData.NetworkStrength
 class Pc(HardwareBase):
  def get_sound_card_online(self):
    return True
  def get_imei(self, slot):
    return "%015d" % random.randint(0, 1 << 32)
  def get_serial(self):
    return "cccccccc"
  def get_subscriber_info(self):
    return ""
  def reboot(self, reason=None):
    print("REBOOT!")
  def get_network_type(self):
    return NetworkType.wifi
  def get_sim_info(self):
    return {
      'sim_id': '',
      'mcc_mnc': None,
      'network_type': ["Unknown"],
      'sim_state': ["ABSENT"],
      'data_connected': False
    }
  def get_network_strength(self, network_type):
    return NetworkStrength.unknown
 if EON:
  HARDWARE = cast(HardwareBase, Android())
 elif TICI:
  HARDWARE = cast(HardwareBase, Tici())
 else:
  HARDWARE = cast(HardwareBase, Pc())
@@ -1,41 +0,0 @@
 from abc import abstractmethod
 class HardwareBase:
  @staticmethod
  def get_cmdline():
    with open('/proc/cmdline') as f:
      cmdline = f.read()
    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
  @abstractmethod
  def get_sound_card_online(self):
    pass
  @abstractmethod
  def get_imei(self, slot):
    pass
  @abstractmethod
  def get_serial(self):
    pass
  @abstractmethod
  def get_subscriber_info(self):
    pass
  @abstractmethod
  def reboot(self, reason=None):
    pass
  @abstractmethod
  def get_network_type(self):
    pass
  @abstractmethod
  def get_sim_info(self):
    pass
  @abstractmethod
  def get_network_strength(self, network_type):
    pass
@@ -1,59 +0,0 @@
 import serial
 from common.hardware_base import HardwareBase
 from cereal import log
 import subprocess
 NetworkType = log.ThermalData.NetworkType
 NetworkStrength = log.ThermalData.NetworkStrength
 def run_at_command(cmd, timeout=0.1):
  with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
    ser.write(cmd + b"\r\n")
    ser.readline()  # Modem echos request
    return ser.readline().decode().rstrip()
 class Tici(HardwareBase):
  def get_sound_card_online(self):
    return True
  def get_imei(self, slot):
    if slot != 0:
      return ""
    for _ in range(10):
      try:
        imei = run_at_command(b"AT+CGSN")
        if len(imei) == 15:
          return imei
      except serial.SerialException:
        pass
    raise RuntimeError("Error getting IMEI")
  def get_serial(self):
    return self.get_cmdline()['androidboot.serialno']
  def get_subscriber_info(self):
    return ""
  def reboot(self, reason=None):
    subprocess.check_output(["sudo", "reboot"])
  def get_network_type(self):
    return NetworkType.wifi
  def get_sim_info(self):
    return {
      'sim_id': '',
      'mcc_mnc': None,
      'network_type': ["Unknown"],
      'sim_state': ["ABSENT"],
      'data_connected': False
    }
  def get_network_strength(self, network_type):
    return NetworkStrength.unknown
@@ -1,6 +1,3 @@
-Import('env', 'cython_dependencies')
+Import('envCython')
 env.Command(['simple_kalman_impl.so'],
            cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
            "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
 envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
@@ -1,3 +1,4 @@
 # distutils: language = c++
 # cython: language_level=3
 cdef class KF1D:
@@ -1,10 +0,0 @@
 from distutils.core import Extension, setup
 from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 setup(name='Simple Kalman Implementation',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(Extension("simple_kalman_impl",
                                      ["simple_kalman_impl.pyx"])))
@@ -82,3 +82,6 @@ kf = KF1D(x0=[[x0_0], [x1_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)
 if __name__ == "__main__":
  unittest.main()
@@ -2,3 +2,22 @@ from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint:
 assert Params
 assert UnknownKeyName
 assert put_nonblocking
 if __name__ == "__main__":
  import sys
  from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
  params = Params()
  if len(sys.argv) == 3:
    name = sys.argv[1]
    val = sys.argv[2]
    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
    print(f"SET: {name} = {val}")
    params.put(name, val)
  elif len(sys.argv) == 2:
    name = sys.argv[1]
    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
    print(f"GET: {name} = {params.get(name)}")
  else:
    for k in keys.keys():
      print(f"GET: {k} = {params.get(k)}")
@@ -4,7 +4,7 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
  pass
-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
  pass
 cdef extern from "selfdrive/common/params.h":
@@ -2,7 +2,7 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params
 import os
 import threading
@@ -31,9 +31,11 @@ keys = {
  b"GitCommit": [TxType.PERSISTENT],
  b"GitRemote": [TxType.PERSISTENT],
  b"GithubSshKeys": [TxType.PERSISTENT],
  b"HardwareSerial": [TxType.PERSISTENT],
  b"HasAcceptedTerms": [TxType.PERSISTENT],
  b"HasCompletedSetup": [TxType.PERSISTENT],
  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
  b"IMEI": [TxType.PERSISTENT],
  b"IsLdwEnabled": [TxType.PERSISTENT],
  b"IsMetric": [TxType.PERSISTENT],
  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
@@ -42,8 +44,9 @@ keys = {
  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  b"IsUploadRawEnabled": [TxType.PERSISTENT],
  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
+  b"LastGPSPosition": [TxType.PERSISTENT],
  b"LastUpdateException": [TxType.PERSISTENT],
  b"LastUpdateTime": [TxType.PERSISTENT],
  b"LiveParameters": [TxType.PERSISTENT],
  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
  b"LaneChangeEnabled": [TxType.PERSISTENT],
@@ -55,11 +58,14 @@ keys = {
  b"ReleaseNotes": [TxType.PERSISTENT],
  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  b"SubscriberInfo": [TxType.PERSISTENT],
  b"SshEnabled": [TxType.PERSISTENT],
  b"TermsVersion": [TxType.PERSISTENT],
  b"Timezone": [TxType.PERSISTENT],
  b"TrainingVersion": [TxType.PERSISTENT],
  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
  b"Version": [TxType.PERSISTENT],
  b"VisionRadarToggle": [TxType.PERSISTENT],
  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
@@ -69,6 +75,8 @@ keys = {
  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
  b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
 }
 def ensure_bytes(v):
@@ -1,33 +0,0 @@
 import os
 import subprocess
 from distutils.core import Extension, setup
 from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 from common.basedir import BASEDIR
 from common.hardware import TICI
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 sourcefiles = ['params_pyx.pyx']
 extra_compile_args = ["-std=c++11"]
 if ARCH == "aarch64":
  if TICI:
    extra_compile_args += ["-DQCOM2"]
  else:
    extra_compile_args += ["-DQCOM"]
 setup(name='common',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "params_pyx",
          language="c++",
          sources=sourcefiles,
          include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
          extra_compile_args=extra_compile_args
        )
      )
 )
@@ -4,21 +4,31 @@ import os
 import time
 import multiprocessing
-from common.hardware import PC
+from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
 # driver monitoring
 if TICI:
  DT_DMON = 0.05
 else:
  DT_DMON = 0.1
 class Priority:
-  MIN_REALTIME = 52 # highest android process priority is 51
+  # CORE 2
-  CTRL_LOW = MIN_REALTIME
+  # - modeld = 55
-  CTRL_HIGH = MIN_REALTIME + 1
+  # - camerad = 54
  CTRL_LOW = 51 # plannerd & radard
  # CORE 3
  # - boardd = 55
  CTRL_HIGH = 53
 def set_realtime_priority(level):
@@ -4,22 +4,19 @@ from common.basedir import BASEDIR
 class Spinner():
-  def __init__(self, noop=False):
+  def __init__(self):
-    # spinner is currently only implemented for android
+    try:
-    self.spinner_proc = None
+      self.spinner_proc = subprocess.Popen(["./spinner"],
-    if not noop:
+                                           stdin=subprocess.PIPE,
-      try:
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-        self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           close_fds=True)
-                                             stdin=subprocess.PIPE,
+    except OSError:
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+      self.spinner_proc = None
                                             close_fds=True)
      except OSError:
        self.spinner_proc = None
  def __enter__(self):
    return self
-  def update(self, spinner_text):
+  def update(self, spinner_text: str):
    if self.spinner_proc is not None:
      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
      try:
@@ -27,6 +24,9 @@ class Spinner():
      except BrokenPipeError:
        pass
  def update_progress(self, cur: int, total: int):
    self.update(str(int(100 * cur / total)))
  def close(self):
    if self.spinner_proc is not None:
      try:
@@ -6,17 +6,14 @@ from common.basedir import BASEDIR
 class TextWindow:
-  def __init__(self, s, noop=False):
+  def __init__(self, text):
-    # text window is only implemented for android currently
+    try:
-    self.text_proc = None
+      self.text_proc = subprocess.Popen(["./text", text],
-    if not noop:
+                                        stdin=subprocess.PIPE,
-      try:
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-        self.text_proc = subprocess.Popen(["./text", s],
+                                        close_fds=True)
-                                          stdin=subprocess.PIPE,
+    except OSError:
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+      self.text_proc = None
                                          close_fds=True)
      except OSError:
        self.text_proc = None
  def get_status(self):
    if self.text_proc is not None:
@@ -1,8 +1,6 @@
-Import('env', 'cython_dependencies')
+Import('env', 'envCython')
-d = Dir('.')
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
 Export('transformations')
-env.Command(['transformations.so'],
+envCython.Program('transformations.so', 'transformations.pyx')
            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
@@ -1,29 +1,67 @@
 import numpy as np
 import common.transformations.orientation as orient
-FULL_FRAME_SIZE = (1164, 874)
+import common.transformations.orientation as orient
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+from selfdrive.hardware import TICI
-eon_focal_length = FOCAL = 910.0
+
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
 eon_d_focal_length = 860.0
 leon_d_focal_length = 650.0
 tici_f_focal_length = 2648.0
 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
 eon_f_frame_size = (1164, 874)
 eon_d_frame_size = (1152, 864)
 leon_d_frame_size = (816, 612)
 tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
 # aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
+eon_fcam_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [  0.,  FOCAL,  H/2.],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [  0.,    0.,     1.]])
+  [0.0,  0.0,                                          1.0]])
-
+eon_intrinsics = eon_fcam_intrinsics # xx
 leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
+  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
-  [  0,  650,  612//2],
+  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
-  [  0,    0,     1]])
+  [0.0,  0.0,                                            1.0]])
 eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [  0,  860,  864//2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [  0,    0,     1]])
+  [0.0,  0.0,                                          1.0]])
 tici_fcam_intrinsics = np.array([
  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
  [0.0,  0.0,                                            1.0]])
 tici_dcam_intrinsics = np.array([
  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
  [0.0,  0.0,                                            1.0]])
 tici_ecam_intrinsics = tici_dcam_intrinsics
 # aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
 eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
 tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
 tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
 if not TICI:
  FULL_FRAME_SIZE = eon_f_frame_size
  FOCAL = eon_f_focal_length
  fcam_intrinsics = eon_fcam_intrinsics
 else:
  FULL_FRAME_SIZE = tici_f_frame_size
  FOCAL = tici_f_focal_length
  fcam_intrinsics = tici_fcam_intrinsics
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
 # device/mesh : x->forward, y-> right, z->down
@@ -69,9 +107,9 @@ def vp_from_ke(m):
  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
-def vp_from_rpy(rpy):
+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(eon_intrinsics, e)
+  ke = np.dot(intrinsics, e)
  return vp_from_ke(ke)
@@ -81,7 +119,7 @@ def roll_from_ke(m):
                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
-def normalize(img_pts, intrinsics=eon_intrinsics):
+def normalize(img_pts, intrinsics=fcam_intrinsics):
  # normalizes image coordinates
  # accepts single pt or array of pts
  intrinsics_inv = np.linalg.inv(intrinsics)
@@ -94,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)
-def denormalize(img_pts, intrinsics=eon_intrinsics):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@@ -102,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
  return img_pts_denormalized[:, :2].reshape(input_shape)
@@ -137,18 +175,10 @@ def img_from_device(pt_device):
  return pt_img.reshape(input_shape)[:, :2]
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(eon_intrinsics,
+  calib_frame_from_ground = np.dot(intrinsics,
                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
  return camera_frame_from_calib_frame
 def pretransform_from_calib(calib):
  roll, pitch, yaw, height = calib
  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
  return np.linalg.inv(camera_frame_from_calib_frame)
@@ -1,34 +1,33 @@
 import numpy as np
-from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+from common.transformations.camera import (FULL_FRAME_SIZE,
                                           FOCAL,
                                           get_view_frame_from_road_frame,
                                           get_view_frame_from_calib_frame,
                                           vp_from_ke)
 # segnet
 SEGNET_SIZE = (512, 384)
-segnet_frame_from_camera_frame = np.array([
+def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
+  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
+                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-
+segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 # model
 MODEL_INPUT_SIZE = (320, 160)
 MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
 MODEL_CY = 21.
-model_zoom = 1.25
+model_fl = 728.0
 model_height = 1.22
 # canonical model transform
-model_intrinsics = np.array(
+model_intrinsics = np.array([
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
+  [model_fl,  0.0,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
+  [0.0,  model_fl,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
+  [0.0,  0.0,            1.0]])
 # MED model
@@ -36,34 +35,45 @@ MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6
-medmodel_zoom = 1.
+medmodel_fl = 910.0
-medmodel_intrinsics = np.array(
+medmodel_intrinsics = np.array([
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+  [medmodel_fl,  0.0,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
+  [0.0,  medmodel_fl,                   MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+  [0.0,  0.0,                                   1.0]])
 # CAL model
 CALMODEL_INPUT_SIZE = (512, 256)
 CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
 CALMODEL_CY = 47.6
-calmodel_zoom = 1.5
+calmodel_fl = 606.7
-calmodel_intrinsics = np.array(
+calmodel_intrinsics = np.array([
-  [[ eon_focal_length / calmodel_zoom,    0. ,  0.5 * CALMODEL_INPUT_SIZE[0]],
+  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / calmodel_zoom,  CALMODEL_CY],
+  [0.0,  calmodel_fl,                   CALMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+  [0.0,  0.0,                                   1.0]])
 # BIG model
 BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
-bigmodel_zoom = 1.
+bigmodel_fl = 910.0
-bigmodel_intrinsics = np.array(
+bigmodel_intrinsics = np.array([
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
+  [bigmodel_fl,  0.0,  0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
+  [0.0,  bigmodel_fl,             256 + MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+  [0.0,  0.0,                                   1.0]])
 # SBIG model (big model with the size of small model)
 SBIGMODEL_INPUT_SIZE = (512, 256)
 SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
 sbigmodel_fl = 455.0
 sbigmodel_intrinsics = np.array([
  [sbigmodel_fl,  0.0,  0.5 * SBIGMODEL_INPUT_SIZE[0]],
  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
  [0.0,  0.0,                                     1.0]])
 model_frame_from_road_frame = np.dot(model_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))
@@ -80,20 +90,21 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
+    [1, 0, 0],
-      [0, 1, 0],
+    [0, 1, 0],
-      [0, 0, 0],
+    [0, 0, 0],
-      [0, 0, 1],
+    [0, 0, 1],
  ]))
  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
+    [1, 0, 0],
-      [0, 1, 0],
+    [0, 1, 0],
-      [0, 0, height - model_height],
+    [0, 0, height - model_height],
-      [0, 0, 1],
+    [0, 0, 1],
  ]))
  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
@@ -104,13 +115,14 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
  vp = vp_from_ke(camera_frame_from_road_frame)
  model_zoom = camera_fl / model_fl
  model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
+    [0.0,  0.0,                                   1.0],
  ])
  # This function is super slow, so skip it if height is very close to canonical
@@ -39,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
  return quat.toRotationMatrix();
 }
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
  return ensure_unique(Eigen::Quaterniond(rot));
 }
@@ -47,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
  return quat2rot(euler2quat(euler));
 }
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
  return quat2euler(rot2quat(rot));
 }
@@ -141,7 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
  return {phi, theta, psi};
 }
 int main(void){
 }
@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
 Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
 Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
 Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
 Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
 Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
@@ -1,20 +0,0 @@
 import numpy
 from Cython.Build import cythonize
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 setup(
  name='Cython transformations wrapper',
  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
  ext_modules=cythonize(
    Extension(
      "transformations",
      sources=["transformations.pyx"],
      language="c++",
      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
      include_dirs=[numpy.get_include()],
    ),
    nthreads=4,
  )
 )
@@ -1,18 +1,20 @@
-from transformations cimport Matrix3, Vector3, Quaternion
+# distutils: language = c++
-from transformations cimport ECEF, NED, Geodetic
+# cython: language_level = 3
 from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
 from common.transformations.transformations cimport ECEF, NED, Geodetic
-from transformations cimport euler2quat as euler2quat_c
+from common.transformations.transformations cimport euler2quat as euler2quat_c
-from transformations cimport quat2euler as quat2euler_c
+from common.transformations.transformations cimport quat2euler as quat2euler_c
-from transformations cimport quat2rot as quat2rot_c
+from common.transformations.transformations cimport quat2rot as quat2rot_c
-from transformations cimport rot2quat as rot2quat_c
+from common.transformations.transformations cimport rot2quat as rot2quat_c
-from transformations cimport euler2rot as euler2rot_c
+from common.transformations.transformations cimport euler2rot as euler2rot_c
-from transformations cimport rot2euler as rot2euler_c
+from common.transformations.transformations cimport rot2euler as rot2euler_c
-from transformations cimport rot_matrix as rot_matrix_c
+from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from transformations cimport geodetic2ecef as geodetic2ecef_c
+from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from transformations cimport ecef2geodetic as ecef2geodetic_c
+from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from transformations cimport LocalCoord_c
+from common.transformations.transformations cimport LocalCoord_c
 import cython
@@ -12,6 +12,7 @@
 #include <fstream>
 #include <iostream>
 #include <mutex>
 #include <memory>
 #include <thread>
 #include <curl/curl.h>
@@ -30,7 +31,7 @@
 #include "common/framebuffer.h"
 #include "common/touch.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #define USER_AGENT "NEOSUpdater-0.2"
@@ -183,7 +184,7 @@ struct Updater {
  int fb_w, fb_h;
-  FramebufferState *fb = NULL;
+  std::unique_ptr<FrameBuffer> fb;
  NVGcontext *vg = NULL;
  int font_regular;
  int font_semibold;
@@ -227,11 +228,9 @@ struct Updater {
  void ui_init() {
    touch_init(&touch);
-    fb = framebuffer_init("updater", 0x00001000, false,
+    fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
                          &fb_w, &fb_h);
    assert(fb);
-    framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
+    fb->set_power(HWC_POWER_MODE_NORMAL);
    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
    assert(vg);
@@ -465,7 +464,7 @@ struct Updater {
      while(battery_cap < min_battery_cap) {
        battery_cap = battery_capacity();
        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
+        util::sleep_for(1000);
      }
      set_running();
    }
@@ -483,7 +482,7 @@ struct Updater {
      while(battery_cap < min_battery_cap) {
        battery_cap = battery_capacity();
        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
+        util::sleep_for(1000);
      }
      set_running();
    }
@@ -751,12 +750,12 @@ struct Updater {
      glDisable(GL_BLEND);
-      framebuffer_swap(fb);
+      fb->swap();
      assert(glGetError() == GL_NO_ERROR);
      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
+      util::sleep_for(30);
    }
    if (update_thread_handle.joinable()) {
@@ -9,7 +9,12 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 function two_init {
-  # Restrict Android and other system processes to the first two cores
+  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN
  # *** shield cores 2-3 ***
  # android gets two cores
  echo 0-1 > /dev/cpuset/background/cpus
  echo 0-1 > /dev/cpuset/system-background/cpus
  echo 0-1 > /dev/cpuset/foreground/cpus
@@ -19,14 +24,56 @@ function two_init {
  # openpilot gets all the cores
  echo 0-3 > /dev/cpuset/app/cpus
  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
  # *** set up governors ***
  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
  # unclear if these help, but they don't seem to hurt
  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
  # GPU
  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
  # it seems to gain nothing but a wasted 500mW
  # *** set up IRQ affinities ***
  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
  # USB traffic needs realtime handling on cpu 3
  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
  # GPU and camera get cpu 2
  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
  for irq in $CAM_IRQS; do
    echo 2 > /proc/irq/$irq/smp_affinity_list
  done
  echo 2 > /proc/irq/193/smp_affinity_list # GPU
  # give GPU threads RT priority
  for pid in $(pgrep "kgsl"); do
    chrt -f -p 52 $pid
  done
  # the flippening!
  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
  # disable bluetooth
  service call bluetooth_manager 8
  # Check for NEOS update
  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
@@ -58,10 +105,75 @@ function two_init {
  fi
 }
-function launch {
+function tici_init {
-  # Wifi scan
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
-  wpa_cli IFNAME=wlan0 SCAN
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
  # set success flag for current boot slot
  sudo abctl --set_success
  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
    # Get number of slot to switch to
    CUR_SLOT=$(abctl --boot_slot)
    if [[ "$CUR_SLOT" == "_a" ]]; then
      OTHER_SLOT="_b"
      OTHER_SLOT_NUMBER="1"
    else
      OTHER_SLOT="_a"
      OTHER_SLOT_NUMBER="0"
    fi
    echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
    # Get expected hashes from manifest
    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
    SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
    SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
    BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
    BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
    echo "Expected hashes:"
    echo "System: $SYSTEM_HASH_EXPECTED"
    echo "Boot: $BOOT_HASH_EXPECTED"
    # Read hashes from alternate partitions, should already be flashed by updated
    SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
    BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
    echo "Found hashes:"
    echo "System: $SYSTEM_HASH"
    echo "Boot: $BOOT_HASH"
    if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
      echo "Swapping active slot to $OTHER_SLOT_NUMBER"
      # Clean hashes before swapping to prevent looping
      dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
      dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
      sync
      abctl --set_active "$OTHER_SLOT_NUMBER"
      sleep 1
      sudo reboot
    else
      echo "Hash mismatch, downloading agnos"
      if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
        echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
        # Clean hashes before swapping to prevent looping
        dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
        dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
        sync
        abctl --set_active "$OTHER_SLOT_NUMBER"
      fi
      sleep 1
      sudo reboot
    fi
  fi
 }
 function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
@@ -95,6 +207,7 @@ function launch {
          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset REQUIRED_NEOS_VERSION
          unset AGNOS_VERSION
          exec "${LAUNCHER_LOCATION}"
        else
          echo "openpilot backup found, not updating"
@@ -104,15 +217,17 @@ function launch {
    fi
  fi
  # comma two init
  if [ -f /EON ]; then
    two_init
  fi
  # handle pythonpath
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"
  # hardware specific init
  if [ -f /EON ]; then
    two_init
  elif [ -f /TICI ]; then
    tici_init
  fi
  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log
@@ -10,6 +10,10 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
  export REQUIRED_NEOS_VERSION="15-1"
 fi
 if [ -z "$AGNOS_VERSION" ]; then
  export AGNOS_VERSION="0.6"
 fi
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi
@@ -1,6 +1,7 @@
 .mypy_cache/
 *.pyc
 *.os
 *.o
 *.tmp
 *.dylib
 .*.swp
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "acura_ilx_2016_can.dbc starts here"
+CM_ "acura_ilx_2016_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "acura_rdx_2018_can.dbc starts here"
+CM_ "acura_rdx_2018_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2020.dbc starts here"
+CM_ "Imported file _bosch_2020.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -375,7 +376,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "acura_rdx_2020_can.dbc starts here"
+CM_ "acura_rdx_2020_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,4 +1,4 @@
-Import('env', 'cereal', 'cython_dependencies')
+Import('env', 'envCython', 'cereal')
 import os
 from opendbc.can.process_dbc import process
@@ -13,10 +13,13 @@ for x in sorted(os.listdir('../')):
    dbc = env.Command(out_fn, in_fn, compile_dbc)
    dbcs.append(dbc)
 libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
 # Build packer and parser
-env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
+lenv = envCython.Clone()
-            cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
+lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
-            "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
+parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
 packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
 lenv.Depends(parser, libdbc)
 lenv.Depends(packer, libdbc)
@@ -97,18 +97,17 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
  // a magic variable padding byte tacked onto the end of the payload.
  // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
  uint8_t *dat = (uint8_t *)&d;
  uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
  // CRC the payload first, skipping over the first byte where the CRC lives.
  for (int i = 1; i < l; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
    crc = crc8_lut_8h2f[crc];
  }
  // Look up and apply the magic final CRC padding byte, which permutes by CAN
  // address, and additionally (for SOME addresses) by the message counter.
-  uint8_t counter = dat[1] & 0x0F;
+  uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
  switch(address) {
    case 0x86:  // LWI_01 Steering Angle
      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
@@ -176,11 +175,9 @@ unsigned int pedal_checksum(uint64_t d, int l) {
  d >>= ((8-l)*8); // remove padding
  d >>= 8; // remove checksum
  uint8_t *dat = (uint8_t *)&d;
  int i, j;
  for (i = 0; i < l - 1; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
    for (j = 0; j < 8; j++) {
      if ((crc & 0x80) != 0) {
        crc = (uint8_t)((crc << 1) ^ poly);
@@ -56,7 +56,7 @@ public:
            const std::vector<SignalParseOptions> &sigoptions);
  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
  void UpdateValid(uint64_t sec);
-  void update_string(std::string data, bool sendcan);
+  void update_string(const std::string &data, bool sendcan);
  std::vector<SignalValue> query_latest();
 };
@@ -1,94 +0,0 @@
 import os
 import subprocess
 import sysconfig
 import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 from Cython.Build import cythonize
 from Cython.Distutils import build_ext
 ANNOTATE = os.getenv('ANNOTATE') is not None
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
 def get_ext_filename_without_platform_suffix(filename):
  name, ext = os.path.splitext(filename)
  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
  if ext_suffix == ext:
    return filename
  ext_suffix = ext_suffix.replace(ext, '')
  idx = name.find(ext_suffix)
  if idx == -1:
    return filename
  else:
    return name[:idx] + ext
 class BuildExtWithoutPlatformSuffix(build_ext):
  def get_ext_filename(self, ext_name):
    filename = super().get_ext_filename(ext_name)
    return get_ext_filename_without_platform_suffix(filename)
 extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]
 if platform.system() == "Darwin":
  libdbc = "libdbc.dylib"
 else:
  libdbc = "libdbc.so"
 extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
 include_dirs = [
  BASEDIR,
  os.path.join(BASEDIR, 'phonelibs'),
 ]
 # Build CAN Parser
 setup(name='CAN parser',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "parser_pyx",
          language="c++",
          sources=['parser_pyx.pyx'],
          extra_compile_args=extra_compile_args,
          include_dirs=include_dirs,
          extra_link_args=extra_link_args,
        ),
        nthreads=4,
        annotate=ANNOTATE
      ),
 )
 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
 # Build CAN Packer
 setup(name='CAN packer',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "packer_pyx",
          language="c++",
          sources=['packer_pyx.pyx'],
          extra_compile_args=extra_compile_args,
          include_dirs=include_dirs,
          extra_link_args=extra_link_args,
        ),
        nthreads=4,
        annotate=ANNOTATE
      ),
 )
 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")
@@ -8,8 +8,8 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
-from common cimport CANPacker as cpp_CANPacker
+from .common cimport CANPacker as cpp_CANPacker
-from common cimport dbc_lookup, SignalPackValue, DBC
+from .common cimport dbc_lookup, SignalPackValue, DBC
 cdef class CANPacker:
@@ -22,8 +22,8 @@ cdef class CANPacker:
  def __init__(self, dbc_name):
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't lookup {dbc_name}")
-      
+
    self.packer = new cpp_CANPacker(dbc_name)
    num_msgs = self.dbc[0].num_msgs
    for i in range(num_msgs):
@@ -208,7 +208,7 @@ void CANParser::UpdateValid(uint64_t sec) {
  }
 }
-void CANParser::update_string(std::string data, bool sendcan) {
+void CANParser::update_string(const std::string &data, bool sendcan) {
  // format for board, make copy due to alignment issues, will be freed on out of scope
  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
  memcpy(amsg.begin(), data.data(), data.length());
@@ -8,8 +8,8 @@ from libc.stdint cimport uint32_t, uint64_t, uint16_t
 from libcpp.map cimport map
 from libcpp cimport bool
-from common cimport CANParser as cpp_CANParser
+from .common cimport CANParser as cpp_CANParser
-from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
+from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
 import os
 import numbers
@@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
 BO_ 639 NEW_MSG_27f: 8 XXX
 SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
@@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
 CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
 CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
 CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
 CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
 CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
 VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
 VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_accord_lx15t_2018_can.dbc starts here"
+CM_ "honda_accord_lx15t_2018_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_accord_s2t_2018_can.dbc starts here"
+CM_ "honda_accord_s2t_2018_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
+CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
+CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here";
 BO_ 316 GAS_PEDAL_2: 8 XXX
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_civic_touring_2016_can.dbc starts here"
+CM_ "honda_civic_touring_2016_can.dbc starts here";
@@ -1,6 +1,6 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "honda_crv_ex_2017_body.dbc starts here"
+CM_ "honda_crv_ex_2017_body.dbc starts here";
 BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
 SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_crv_ex_2017_can.dbc starts here"
+CM_ "honda_crv_ex_2017_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_crv_executive_2016_can.dbc starts here"
+CM_ "honda_crv_executive_2016_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_crv_hybrid_2019_can.dbc starts here"
+CM_ "honda_crv_hybrid_2019_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_crv_touring_2016_can.dbc starts here"
+CM_ "honda_crv_touring_2016_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_fit_ex_2018_can.dbc starts here"
+CM_ "honda_fit_ex_2018_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_hrv_touring_2019_can.dbc starts here"
+CM_ "honda_hrv_touring_2019_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
 SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-CM_ "honda_insight_ex_2019_can.dbc starts here"
+CM_ "honda_insight_ex_2019_can.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_odyssey_exl_2018.dbc starts here"
+CM_ "honda_odyssey_exl_2018.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
+CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-CM_ "honda_pilot_touring_2017_can.dbc starts here"
+CM_ "honda_pilot_touring_2017_can.dbc starts here";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	aed724beda	openpilot v0.8.2 release	2021-02-23 16:46:22 -08:00
Vehicle Researcher	22a4193109	openpilot v0.8.1 release	2020-12-18 10:57:05 +00:00
Adeeb Shihadeh	29d9e1ce69	Fix commIssue due to frame drop and power draw (#2689 ) Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>	2020-12-04 10:41:00 +01:00
Vehicle Researcher	0b384ea101	openpilot v0.8.0 release	2020-11-24 21:53:25 +00:00
		`@@ -0,0 +1,2 @@`
							`#define CATCH_CONFIG_MAIN`
							`#include "catch2/catch.hpp"`