Hotfix: Don't hide onboarding after display timeout (#20973)

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>

.gitignore

@@ -1,4 +1,5 @@
 venv/
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +7,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
+.hypothesis
 
 *.dylib
 *.DSYM
@@ -31,6 +33,7 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json
 
 persist
 board/obj/
@@ -42,9 +45,11 @@ selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -53,9 +58,9 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning
 
 .coverage*
 coverage.xml
@@ -66,3 +71,7 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed

CONTRIBUTING.md

@@ -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
+git submodule update --init
 ```
 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

Jenkinsfile

@@ -1,25 +1,42 @@
 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', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi
 
-  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
-    sh label: step_label,
-        script: """
-                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
-echo \$PPID > /dev/cpuset/app/tasks || true
-mkdir -p /dev/shm
-chmod 777 /dev/shm
 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")
+    timeout(time: 90, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -34,10 +51,13 @@ pipeline {
     COMMA_JWT = credentials('athena-test-jwt')
     TEST_DIR = "/data/openpilot"
   }
+  options {
+      timeout(time: 1, unit: 'HOURS')
+  }
 
   stages {
 
-    stage('Release Build') {
+    stage('Build release2') {
       agent {
         docker {
           image 'python:3.7.3'
@@ -58,12 +78,11 @@ pipeline {
       when {
         not {
           anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
           }
         }
       }
 
-
       stages {
 
         /*
@@ -93,6 +112,10 @@ pipeline {
         stage('On-device Tests') {
           agent {
             docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
               image 'python:3.7.3'
               args '--user=root'
             }
@@ -101,19 +124,13 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-
-                stage('Devel Build') {
-                  environment {
-                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
-                  }
+                stage('Devel Tests') {
                   steps {
-                    phone_steps("eon", [
-                      ["build devel", "cd release && CI_PUSH=${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"],
+                    phone_steps("eon-build", [
+                      ["build devel", "cd release && SCONS_CACHE=1 DEVEL_TEST=1 ./build_devel.sh"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                       ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
-                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
                     ])
                   }
                 }
@@ -121,6 +138,7 @@ 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"],
                     ])
                   }
@@ -129,17 +147,88 @@ pipeline {
                 stage('HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
-                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                       ["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 encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                       //["test updater", "python installer/updater/test_updater.py"],
                     ])
                   }
                 }
 
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "SCONS_CACHE=1 scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('Tici Build') {
+                  environment {
+                    R3_PUSH = "${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"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
+                    ])
+                  }
+                }
+
+                stage('camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('Tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
               }
             }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
           }
 
           post {
@@ -154,3 +243,4 @@ pipeline {
     }
   }
 }
+

README.md

@@ -64,54 +64,63 @@ 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 2019-21                   | 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     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| 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   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020-21              | 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 Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | 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 2020                       | All               | openpilot        | 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 2016-21                | 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    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 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 Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla 2020-21               | 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    | Mirai 2021	                  | 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 2019-20                  | All               | openpilot        | 0mph               | 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 />
@@ -124,6 +133,8 @@ Community Maintained Cars and Features
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-17                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | 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         |
@@ -131,45 +142,65 @@ 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   | Sonata 2019                   | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20              | All               | 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 2018-2021               | 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       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-19                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2019                    | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | 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 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | 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>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/)
+<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>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
 
 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
 
 To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
 
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
 Installation Instructions
 ------
 
@@ -238,7 +269,6 @@ 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.
@@ -258,7 +288,7 @@ 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).
@@ -268,7 +298,7 @@ Safety and Testing
 
 Testing on PC
 ------
-For simplified development and experimentation, openpilot runs in the CARLA driving simulator, which allows you to develop openpilot without a car.
+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
@@ -300,16 +330,15 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
     .
-    ├── apk                 # The apk files used for the UI
     ├── cereal              # The messaging spec and libs used for all logs
     ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── installer/updater   # Manages auto-updates of NEOS
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
     ├── phonelibs           # Libraries used on NEOS devices
     ├── pyextra             # Libraries used on NEOS devices
     └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
+        ├── assets          # Fonts, images and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
         ├── camerad         # Driver to capture images from the camera sensors
@@ -326,8 +355,6 @@ 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
 ------
 

RELEASES.md

@@ -1,3 +1,76 @@
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
 Version 0.7.9 (2020-10-09)
 ========================
  * Improved car battery power management
@@ -29,24 +102,24 @@ Version 0.7.7 (2020-07-20)
 
 Version 0.7.6.1 (2020-06-16)
 ========================
-* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
 
 Version 0.7.6 (2020-06-05)
 ========================
-* White panda is deprecated, upgrade to comma two or black panda
-* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
-* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
-* Huge CPU savings in modeld by using thneed!
-* Lots of code cleanup and refactors
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
 
 Version 0.7.5 (2020-05-13)
 ========================
-* Right-Hand Drive support for both driving and driver monitoring!
-* New driving model: improved at sharp turns and lead speed estimation
-* New driver monitoring model: overall improvement on comma two
-* Driver camera preview in settings to improve mounting position
-* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
-* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
 
 Version 0.7.4 (2020-03-20)
 ========================
@@ -482,96 +555,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SConstruct

@@ -1,24 +1,47 @@
-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')
 
 AddOption('--test',
           action='store_true',
           help='build test files')
 
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
-# Rebuild cython extensions if python, distutils, or cython change
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
-Export('cython_dependencies')
+AddOption('--ubsan',
+          action='store_true',
+          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":
@@ -27,14 +50,15 @@ if platform.system() == "Darwin":
 if arch == "aarch64" and TICI:
   arch = "larch64"
 
-webcam = bool(ARGUMENTS.get("use_webcam", 0))
+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 = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-  }
+  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
 
   if arch == "aarch64":
     # android
@@ -46,6 +70,7 @@ if arch == "aarch64" or arch == "larch64":
   ]
 
   libpath = [
+    "/usr/local/lib",
     "/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
@@ -58,6 +83,9 @@ if arch == "aarch64" or arch == "larch64":
       "#phonelibs/libyuv/larch64/lib",
       "/usr/lib/aarch64-linux-gnu"
     ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     rpath = ["/usr/local/lib"]
@@ -74,33 +102,32 @@ if arch == "aarch64" or arch == "larch64":
     if QCOM_REPLAY:
       cflags += ["-DQCOM_REPLAY"]
       cxxflags += ["-DQCOM_REPLAY"]
-
 else:
   cflags = []
   cxxflags = []
-
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#external/tensorflow/include",
-  ]
+  cpppath = []
 
   if arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
-      "#selfdrive/common",
+      f"#phonelibs/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
+      "/opt/homebrew/lib",
+      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
   else:
     libpath = [
       "#phonelibs/snpe/x86_64-linux-clang",
       "#phonelibs/libyuv/x64/lib",
-      "#external/tensorflow/lib",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -108,7 +135,7 @@ else:
     ]
 
   rpath = [
-    "external/tensorflow/lib",
+    "phonelibs/snpe/x86_64-linux-clang",
     "cereal",
     "selfdrive/common"
   ]
@@ -117,11 +144,18 @@ else:
   rpath = [os.path.join(os.getcwd(), x) for x in rpath]
 
 if GetOption('asan'):
-  ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags_asan = ["-fsanitize=address"]
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
 else:
-  ccflags_asan = []
-  ldflags_asan = []
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed"]
 
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
@@ -136,14 +170,15 @@ env = Environment(
     "-Werror",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
+    "-Wno-register",
     "-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",
@@ -156,84 +191,45 @@ env = Environment(
     "#phonelibs/linux/include",
     "#phonelibs/snpe/include",
     "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
-    "#cereal/messaging",
+    "#phonelibs/qrcode",
+    "#phonelibs",
     "#cereal",
+    "#cereal/messaging",
+    "#cereal/visionipc",
     "#opendbc/can",
   ],
 
   CC='clang',
   CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,
 
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
+  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 arch in ["x86_64", "Darwin", "larch64"]:
-  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_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 GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
 
 if os.environ.get('SCONS_CACHE'):
   cache_dir = '/tmp/scons_cache'
+  if TICI:
+    cache_dir = '/data/scons_cache'
 
-  if os.getenv('CI'):
-    branch = os.getenv('GIT_BRANCH')
+  if QCOM_REPLAY:
+    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
@@ -257,9 +253,92 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-# still needed for apks
-zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
+# 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 = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB"
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -269,26 +348,55 @@ 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 rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
+
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/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'])
@@ -305,13 +413,12 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/models/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
 if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
 
-
-if arch == "x86_64":
-  SConscript(['tools/lib/index_log/SConscript'])
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

cereal/.gitignore

@@ -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/

cereal/SConscript

@@ -1,34 +1,33 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', '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'],
-            ['car.capnp', 'log.capnp'],
-            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
 if shutil.which('capnpc-java'):
   env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              ['car.capnp', 'log.capnp'],
-              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+              schema_files,
+              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([
-  'gen/cpp/car.capnp.c++',
-  'gen/cpp/log.capnp.c++',
-])
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
-cereal_dir = Dir('.')
-services_h = env.Command(['services.h'],
-                          ['service_list.yaml', 'services.py'],
-                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+# Build messaging
+
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 
 messaging_objects = env.SharedObject([
   'messaging/messaging.cc',
@@ -41,24 +40,36 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-if arch == "aarch64":
-  zmq_static = FindFile("libzmq.a", "/usr/lib")
-  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
-  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
-
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
 
-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
 
 
-env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
-            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+# Build Vision IPC
+vipc_sources = [
+  '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'])

cereal/car.capnp

@@ -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
@@ -21,11 +23,9 @@ 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;
-    gasUnavailable @3;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -37,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCanError @15;
     speedTooLow @17;
     outOfSpace @18;
     overheat @19;
@@ -54,7 +53,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowSpeedLockout @31;
     plannerError @32;
     debugAlert @34;
-    steerTempUnavailableMute @35;
+    steerTempUnavailableUserOverride @35;
     resumeRequired @36;
     preDriverDistracted @37;
     promptDriverDistracted @38;
@@ -65,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     belowSteerSpeed @46;
     lowBattery @48;
     vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
     sensorDataInvalid @52;
     commIssue @53;
     tooDistracted @54;
@@ -74,14 +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;
@@ -93,17 +89,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupNoCar @76;
     startupNoControl @77;
     startupMaster @78;
+    startupFuzzyFingerprint @97;
     fcw @79;
     steerSaturated @80;
-    whitePandaUnsupported @81;
     belowEngageSpeed @84;
     noGps @85;
-    focusRecoverActive @86;
     wrongCruiseMode @87;
-    neosUpdateRequired @88;
     modeldLagging @89;
     deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
 
+    radarCanErrorDEPRECATED @15;
+    radarCommIssueDEPRECATED @67;
+    gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
     ipasOverrideDEPRECATED @33;
@@ -112,8 +115,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     driverMonitorOffDEPRECATED @42;
     calibrationProgressDEPRECATED @47;
     invalidGiraffeHondaDEPRECATED @49;
-    canErrorPersistentDEPRECATED @83;
-    startupWhitePandaDEPRECATED @82;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
   }
 }
 
@@ -121,7 +130,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
   events @13 :List(CarEvent);
 
   # car speed
@@ -142,8 +150,8 @@ struct CarState {
   brakeLights @19 :Bool;
 
   # steering wheel
-  steeringAngle @7 :Float32;       # deg
-  steeringRate @15 :Float32;       # deg/s
+  steeringAngleDeg @7 :Float32;
+  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
@@ -231,6 +239,8 @@ struct CarState {
       gapAdjustCruise @11;
     }
   }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
 }
 
 # ******* radar state @ 20hz *******
@@ -274,10 +284,6 @@ struct CarControl {
   enabled @0 :Bool;
   active @7 :Bool;
 
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
   actuators @6 :Actuators;
 
   cruiseControl @4 :CruiseControl;
@@ -289,7 +295,7 @@ struct CarControl {
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
   }
 
   struct CruiseControl {
@@ -325,8 +331,6 @@ 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;
@@ -338,6 +342,10 @@ struct CarControl {
       chimeWarning2Repeat @8;
     }
   }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 }
 
 # ****** car param ******
@@ -345,15 +353,18 @@ struct CarControl {
 struct CarParams {
   carName @0 :Text;
   carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
 
   enableGasInterceptor @2 :Bool;
   enableCruise @3 :Bool;
   enableCamera @4 :Bool;
   enableDsu @5 :Bool; # driving support unit
   enableApgs @6 :Bool; # advanced parking guidance system
+  enableBsm @56 :Bool; # blind spot monitoring
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
   safetyModel @9 :SafetyModel;
   safetyModelPassive @42 :SafetyModel = silent;
   safetyParam @10 :Int16;
@@ -366,11 +377,11 @@ struct CarParams {
   brakeMaxV @16 :List(Float32);
 
   # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
 
   # things we can derive
   rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -395,14 +406,17 @@ 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);
+
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
   fingerprintSource @49: FingerprintSource;
@@ -431,10 +445,19 @@ struct CarParams {
   }
 
   struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
   }
 
   struct LateralLQRTuning {
@@ -532,4 +555,6 @@ struct CarParams {
     fwdCamera @0;  # Standard/default integration at LKAS camera
     gateway @1;    # Integration at vehicle's CAN gateway
   }
+
+  isPandaBlackDEPRECATED @39: Bool;
 }

cereal/legacy.capnp

@@ -0,0 +1,865 @@
+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 UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct 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;
+}
+
+

cereal/messaging/__init__.py

@@ -1,9 +1,11 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp
 
 from typing import Optional, List, Union
+from collections import deque
 
 from cereal import log
 from cereal.services import service_list
@@ -11,6 +13,9 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError
 
+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
   from common.realtime import sec_since_boot
@@ -126,12 +131,14 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
 
 class SubMaster():
   def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
     self.frame = -1
     self.updated = {s: False for s in services}
     self.rcv_time = {s: 0. for s in services}
     self.rcv_frame = {s: 0 for s in services}
     self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
     self.sock = {}
     self.freq = {}
     self.data = {}
@@ -142,10 +149,8 @@ class SubMaster():
     self.non_polled_services = [s for s in services if poll is not None and
                                 len(poll) and s not in poll]
 
-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
 
     for s in services:
       if addr is not None:
@@ -184,20 +189,34 @@ class SubMaster():
 
       s = msg.which()
       self.updated[s] = True
+
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
       self.rcv_time[s] = cur_time
       self.rcv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
         self.alive[s] = True
 
+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
   def all_alive(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.alive.keys()
@@ -223,3 +242,6 @@ class PubMaster():
     if not isinstance(dat, bytes):
       dat = dat.to_bytes()
     self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()

cereal/messaging/bridge.cc

@@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig);
 
 #include "services.h"
 
-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
+#include "impl_msgq.h"
+#include "impl_zmq.h"
 
 void sigpipe_handler(int sig) {
   assert(sig == SIGPIPE);

cereal/messaging/impl_msgq.cc

@@ -5,8 +5,9 @@
 #include <csignal>
 #include <cerrno>
 
+#include "services.h"
+#include "impl_msgq.h"
 
-#include "impl_msgq.hpp"
 
 volatile sig_atomic_t msgq_do_exit = 0;
 
@@ -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 == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
     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){
@@ -180,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
   return msgq_msg_send(&msg, q);
 }
 
+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
   if (q != NULL){
     msgq_close_queue(q);

cereal/messaging/impl_msgq.h

@@ -1,6 +1,6 @@
 #pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
+#include "messaging.h"
+#include "msgq.h"
 #include <zmq.h>
 #include <string>
 
@@ -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);
@@ -45,9 +45,10 @@ 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);
+  bool all_readers_updated();
   ~MSGQPubSocket();
 };
 

cereal/messaging/impl_zmq.cc

@@ -7,7 +7,7 @@
 #include <zmq.h>
 
 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"
 
 static int get_port(std::string endpoint) {
   int port = -1;
@@ -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());
 }
@@ -123,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
   return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }
 
+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
   zmq_close(sock);
 }

cereal/messaging/impl_zmq.h

@@ -1,5 +1,5 @@
 #pragma once
-#include "messaging.hpp"
+#include "messaging.h"
 #include <zmq.h>
 #include <string>
 
@@ -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);
@@ -44,9 +44,10 @@ 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);
+  bool all_readers_updated();
   ~ZMQPubSocket();
 };
 

cereal/messaging/messaging.cc

@@ -1,6 +1,6 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"
 
 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -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");
-
-  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);
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
 
   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();

cereal/messaging/messaging.h

@@ -12,6 +12,8 @@
 
 #define MSG_MULTIPLE_PUBLISHERS 100
 
+bool messaging_use_zmq();
+
 class Context {
 public:
   virtual void * getRawContext() = 0;
@@ -32,24 +34,24 @@ 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);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
   virtual ~SubSocket(){};
 };
 
 class PubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint) = 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;
+  virtual bool all_readers_updated() = 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(){};
 };
 
@@ -66,7 +68,8 @@ class SubMaster {
 public:
   SubMaster(const std::initializer_list<const char *> &service_list,
             const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
-  int update(int timeout = 1000);
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
   inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
   inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
   inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
@@ -75,7 +78,10 @@ public:
 
   uint64_t frame = 0;
   bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
   uint64_t rcv_frame(const char *name) const;
+  uint64_t rcv_time(const char *name) const;
   cereal::Event::Reader &operator[](const char *name);
 
 private:
@@ -119,3 +125,21 @@ public:
 private:
   std::map<std::string, PubSocket *> sockets_;
 };
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};

cereal/messaging/messaging.pxd

@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
 
 
-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
   cdef cppclass Context:
     @staticmethod
     Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
     int connect(Context *, string)
     int sendMessage(Message *)
     int send(char *, size_t)
+    bool all_readers_updated()
 
   cdef cppclass Poller:
     @staticmethod

cereal/messaging/messaging_pyx.pyx

@@ -7,11 +7,11 @@ from libcpp cimport bool
 from libc cimport errno
 
 
-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
+from .messaging cimport Context as cppContext
+from .messaging cimport SubSocket as cppSubSocket
+from .messaging cimport PubSocket as cppPubSocket
+from .messaging cimport Poller as cppPoller
+from .messaging cimport Message as cppMessage
 
 
 class MessagingError(Exception):
@@ -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.setPtr(s)
-        sockets.append(socket)
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)
 
     return sockets
 
@@ -140,12 +140,15 @@ cdef class PubSocket:
       else:
         raise MessagingError
 
-  def send(self, string data):
+  def send(self, bytes data):
     length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
+    r = self.socket.send(<char*>data, length)
 
     if r != length:
       if errno.errno == errno.EADDRINUSE:
         raise MultiplePublishersError
       else:
         raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()

cereal/messaging/messaging_pyx_setup.py

@@ -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++14", "-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,
-      ),
-)

cereal/messaging/msgq.cc

@@ -21,9 +21,7 @@
 
 #include <stdio.h>
 
-#include "services.h"
-
-#include "msgq.hpp"
+#include "msgq.h"
 
 void sigusr2_handler(int signal) {
   assert(signal == SIGUSR2);
@@ -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/";
@@ -114,6 +101,7 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
   if (rc < 0){
+    close(fd);
     return -1;
   }
   char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
@@ -464,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
 
   return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}

cereal/messaging/msgq.h

@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_ready(msgq_queue_t * q);
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);

cereal/messaging/socketmaster.cc

@@ -1,7 +1,12 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+
 #include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
 static inline uint64_t nanos_since_boot() {
   struct timespec t;
@@ -35,11 +40,11 @@ struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
   int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  bool updated = false, alive = false, valid = true, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
   capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  kj::Array<capnp::word> buf;
+  AlignedBuffer aligned_buf;
   cereal::Event::Reader event;
 };
 
@@ -53,53 +58,64 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
     assert(socket != 0);
     poller_->registerSocket(socket);
     SubMessage *m = new SubMessage{
+      .name = name,
       .socket = socket,
       .freq = serv->frequency,
       .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .buf = kj::heapArray<capnp::word>(1024)};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
     messages_[socket] = m;
     services_[name] = m;
   }
 }
 
-int SubMaster::update(int timeout) {
-  if (++frame == UINT64_MAX) frame = 1;
+void SubMaster::update(int timeout) {
   for (auto &kv : messages_) kv.second->updated = false;
 
-  int updated = 0;
   auto sockets = poller_->poll(timeout);
   uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
   for (auto s : sockets) {
     Message *msg = s->receive(true);
     if (msg == nullptr) continue;
 
     SubMessage *m = messages_.at(s);
-    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
-    if (m->buf.size() < size) {
-      m->buf = kj::heapArray<capnp::word>(size);
-    }
-    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
-    delete msg;
 
     if (m->msg_reader) {
       m->msg_reader->~FlatArrayMessageReader();
     }
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
-    m->event = m->msg_reader->getRoot<cereal::Event>();
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
+    }
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
     m->updated = true;
     m->rcv_time = current_time;
     m->rcv_frame = frame;
     m->valid = m->event.getValid();
-
-    ++updated;
+    if (SIMULATION) m->alive = true;
   }
 
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
   }
-  return updated;
 }
 
 bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
@@ -107,7 +123,7 @@ bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bo
   for (auto &kv : messages_) {
     SubMessage *m = kv.second;
     if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
     }
   }
   return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,10 +146,22 @@ bool SubMaster::updated(const char *name) const {
   return services_.at(name)->updated;
 }
 
+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
 uint64_t SubMaster::rcv_frame(const char *name) const {
   return services_.at(name)->rcv_frame;
 }
 
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
 cereal::Event::Reader &SubMaster::operator[](const char *name) {
   return services_.at(name)->event;
 };

cereal/service_list.yaml

@@ -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

cereal/services.py

@@ -1,34 +1,94 @@
 #!/usr/bin/env python3
 import os
-import yaml
+from typing import Optional
+
+EON = os.path.isfile('/EON')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
 
 
-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
+
+class Service:
+  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_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+services = {
+  "roadCameraState": (True, 20., 1),  # should_log, frequency, decimation (optional)
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 100),
+  "features": (True, 0.),
+  "pandaState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100.),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0., 1),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 2),
+  "liveLocation": (True, 0., 1),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "liveMpc": (False, 20.),
+  "liveLongitudinalMpc": (False, 20.),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "uiLayoutState": (True, 0.),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 2),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "driverCameraState": (True, 10. if EON else 20., 1),
+  "driverEncodeIdx": (True, 10. if EON else 20., 1),
+  "driverState": (True, 10. if EON else 20., 1),
+  "driverMonitoringState": (True, 10. if EON else 20., 1),
+  "offroadLayout": (False, 0.),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 1),
+  "modelV2": (True, 20., 20),
+  "managerState": (True, 2., 1),
 
-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]
+  "testModel": (False, 0.),
+  "testLiveLocation": (False, 0.),
+  "testJoystick": (False, 0.),
+}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
+
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+  h += "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
 
-    service_list[k] = Service(v[0], v[1], v[2], decimation)
 
 if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  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")
+  print(build_header())

cereal/visionipc/.gitignore

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

cereal/visionipc/ipc.cc

@@ -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 = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
   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 = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
   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);

cereal/visionipc/ipc.h

@@ -1,19 +1,7 @@
-#ifndef IPC_H
-#define IPC_H
-
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
+#pragma once
+#include <cstddef>
 
 int ipc_connect(const char* socket_path);
 int ipc_bind(const char* socket_path);
 int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
                           int *out_num_fds);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif

cereal/visionipc/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

cereal/visionipc/visionbuf.cc

@@ -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);
+}

cereal/visionipc/visionbuf.h

@@ -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);

cereal/visionipc/visionbuf_cl.cc

@@ -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);
+}

cereal/visionipc/visionbuf_ion.cc

@@ -36,7 +36,7 @@ static void ion_init() {
   }
 }
 
-VisionBuf visionbuf_allocate(size_t len) {
+void VisionBuf::allocate(size_t len) {
   int err;
 
   ion_init();
@@ -62,54 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {
 
   memset(addr, 0, ion_alloc.len);
 
-  return (VisionBuf){
-    .len = len,
-    .mmap_len = ion_alloc.len,
-    .addr = addr,
-    .handle = ion_alloc.handle,
-    .fd = ion_fd_data.fd,
-  };
+  this->owner = true;
+  this->len = len;
+  this->mmap_len = ion_alloc.len;
+  this->addr = addr;
+  this->handle = ion_alloc.handle;
+  this->fd = ion_fd_data.fd;
 }
 
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
-  VisionBuf r = visionbuf_allocate(len);
-  *out_mem = visionbuf_to_cl(&r, device_id, ctx);
-  r.buf_cl = *out_mem;
-  return r;
+void VisionBuf::import(){
+  int err;
+  assert(this->fd >= 0);
+
+  ion_init();
+
+  // Get handle
+  struct ion_fd_data fd_data = {0};
+  fd_data.fd = this->fd;
+  err = 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);
 }
 
-cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
-  int err = 0;
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
+  int err;
 
-  assert(((uintptr_t)buf->addr % DEVICE_PAGE_SIZE_CL) == 0);
+  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_hostptr = buf->addr;
+  ion_cl.ion_filedesc = this->fd;
+  ion_cl.ion_hostptr = this->addr;
 
-  cl_mem mem = 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 mem;
 }
 
-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.vaddr = buf->addr;
+  flush_data.handle = this->handle;
+  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
@@ -117,34 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {
 
   struct ion_custom_data custom_data = {0};
 
-  switch (dir) {
-  case VISIONBUF_SYNC_FROM_DEVICE:
-    custom_data.cmd = ION_IOC_INV_CACHES;
-    break;
-  case VISIONBUF_SYNC_TO_DEVICE:
-    custom_data.cmd = ION_IOC_CLEAN_CACHES;
-    break;
-  default:
-    assert(0);
-  }
+   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
+   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
+     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
 
   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) {
-  clReleaseMemObject(buf->buf_cl);
-  munmap(buf->addr, buf->mmap_len);
-  close(buf->fd);
-  struct ion_handle_data handle_data = {
-    .handle = buf->handle,
-  };
-  int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(ret == 0);
+void VisionBuf::free() {
+  if (this->buf_cl){
+    int err = clReleaseMemObject(this->buf_cl);
+    assert(err == 0);
+  }
+
+  munmap(this->addr, this->mmap_len);
+  close(this->fd);
+
+  // 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);
+  }
 }

cereal/visionipc/visionipc.h

@@ -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;
+};

cereal/visionipc/visionipc.pxd

@@ -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()

cereal/visionipc/visionipc_client.cc

@@ -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;
+}

cereal/visionipc/visionipc_client.h

@@ -0,0 +1,32 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <unistd.h>
+
+#include "messaging.h"
+#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);
+};

cereal/visionipc/visionipc_pyx.pyx

@@ -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

cereal/visionipc/visionipc_server.cc

@@ -0,0 +1,179 @@
+#include <iostream>
+#include <chrono>
+#include <cassert>
+#include <random>
+
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "messaging.h"
+#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;
+}

cereal/visionipc/visionipc_server.h

@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "messaging.h"
+#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();
+};

cereal/visionipc/visionipc_tests.cc

@@ -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);
+}

common/SConscript

@@ -1,6 +1,4 @@
-Import('env', 'cython_dependencies')
+Import('envCython', 'common')
 
-# Build cython clock module
-env.Command(['common_pyx.so', 'clock.cpp'],
-            cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
-            "cd common && python3 common_pyx_setup.py build_ext --inplace")
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

common/api/__init__.py

@@ -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/"

common/apk.py

@@ -1,97 +0,0 @@
-import os
-import subprocess
-import glob
-import hashlib
-import shutil
-from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
-
-android_packages = ("ai.comma.plus.offroad",)
-
-def get_installed_apks():
-  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
-  ret = {}
-  for x in dat:
-    if x.startswith("package:"):
-      v, k = x.split("package:")[1].split("=")
-      ret[k] = v
-  return ret
-
-def install_apk(path):
-  # can only install from world readable path
-  install_path = "/sdcard/%s" % os.path.basename(path)
-  shutil.copyfile(path, install_path)
-
-  ret = subprocess.call(["pm", "install", "-r", install_path])
-  os.remove(install_path)
-  return ret == 0
-
-def start_offroad():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.offroad/.MainActivity")
-
-def set_package_permissions():
-  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
-  appops_set("ai.comma.plus.offroad", "SU", "allow")
-  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-
-def appops_set(package, op, mode):
-  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
-
-def pm_grant(package, permission):
-  system(f"pm grant {package} {permission}")
-
-def system(cmd):
-  try:
-    cloudlog.info("running %s" % cmd)
-    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
-  except subprocess.CalledProcessError as e:
-    cloudlog.event("running failed",
-      cmd=e.cmd,
-      output=e.output[-1024:],
-      returncode=e.returncode)
-
-# *** external functions ***
-
-def update_apks():
-  # install apks
-  installed = get_installed_apks()
-
-  install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
-  for apk in install_apks:
-    app = os.path.basename(apk)[:-4]
-    if app not in installed:
-      installed[app] = None
-
-  cloudlog.info("installed apks %s" % (str(installed), ))
-
-  for app in installed.keys():
-    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
-    if not os.path.exists(apk_path):
-      continue
-
-    h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
-    h2 = None
-    if installed[app] is not None:
-      h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
-      cloudlog.info("comparing version of %s  %s vs %s" % (app, h1, h2))
-
-    if h2 is None or h1 != h2:
-      cloudlog.info("installing %s" % app)
-
-      success = install_apk(apk_path)
-      if not success:
-        cloudlog.info("needing to uninstall %s" % app)
-        system("pm uninstall %s" % app)
-        success = install_apk(apk_path)
-
-      assert success
-
-def pm_apply_packages(cmd):
-  for p in android_packages:
-    system("pm %s %s" % (cmd, p))
-
-if __name__ == "__main__":
-  update_apks()

common/basedir.py

@@ -1,10 +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")
-  PARAMS = os.path.join(BASEDIR, "persist", "params")
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
   PERSIST = "/persist"
-  PARAMS = "/data/params"

common/clock.pyx

@@ -1,3 +1,5 @@
+# distutils: language = c++
+# cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
 IF UNAME_SYSNAME == "Darwin":

common/common_pyx_setup.py

@@ -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++11"]
-
-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,
-)

common/dict_helpers.py

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

common/ffi_wrapper.py

@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 

common/gpio.py

@@ -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:

common/hardware.py

@@ -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())

common/hardware_base.py

@@ -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

common/hardware_tici.py

@@ -1,58 +0,0 @@
-import serial
-
-from common.hardware_base import HardwareBase
-from cereal import log
-
-
-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):
-    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

common/kalman/SConscript

@@ -1,6 +1,3 @@
-Import('env', 'cython_dependencies')
-
-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")
+Import('envCython')
 
+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')

common/kalman/simple_kalman_impl.pxd

@@ -1,3 +1,5 @@
+# cython: language_level = 3
+
 cdef class KF1D:
   cdef public:
     double x0_0
@@ -13,4 +15,4 @@ cdef class KF1D:
     double A_K_0
     double A_K_1
     double A_K_2
-    double A_K_3
+    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -1,3 +1,4 @@
+# distutils: language = c++
 # cython: language_level=3
 
 cdef class KF1D:

common/kalman/simple_kalman_setup.py

@@ -1,9 +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"])))

common/kalman/tests/test_simple_kalman.py

@@ -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()

common/logging_extra.py

@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
     return record_dict
 
   def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
 
+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
     evt.update(kwargs)
     if 'error' in kwargs:
       self.error(evt)
+    if 'debug' in kwargs:
+      self.debug(evt)
     else:
       self.info(evt)
 

common/params.py

@@ -1,409 +1,24 @@
-#!/usr/bin/env python3
-"""ROS has a parameter server, we have files.
-
-The parameter store is a persistent key value store, implemented as a directory with a writer lock.
-On Android, we store params under params_dir = /data/params. The writer lock is a file
-"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
-"<params_dir>/d".
-
-Each key, value pair is stored as a file with named <key> with contents <value>, located in
-  <params_dir>/d/<key>
-
-Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
-Readers who want a consistent snapshot of multiple keys should take the lock.
-
-Writers should take the lock before modifying anything. Writers should also leave the DB in a
-consistent state after a crash. The implementation below does this by copying all params to a temp
-directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
-before deleting the old <params_dir>/<d> directory.
-
-Writers that only modify a single key can simply take the lock, then swap the corresponding value
-file in place without messing with <params_dir>/d.
-"""
-import time
-import os
-import errno
-import shutil
-import fcntl
-import tempfile
-import threading
-from enum import Enum
-from common.basedir import PARAMS
-
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-class TxType(Enum):
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
-
-
-class UnknownKeyName(Exception):
-  pass
-
-
-keys = {
-  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  "AthenadPid": [TxType.PERSISTENT],
-  "CalibrationParams": [TxType.PERSISTENT],
-  "CarBatteryCapacity": [TxType.PERSISTENT],
-  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CommunityFeaturesToggle": [TxType.PERSISTENT],
-  "CompletedTrainingVersion": [TxType.PERSISTENT],
-  "DisablePowerDown": [TxType.PERSISTENT],
-  "DisableUpdates": [TxType.PERSISTENT],
-  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  "DongleId": [TxType.PERSISTENT],
-  "GitBranch": [TxType.PERSISTENT],
-  "GitCommit": [TxType.PERSISTENT],
-  "GitRemote": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
-  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "HasCompletedSetup": [TxType.PERSISTENT],
-  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  "IsLdwEnabled": [TxType.PERSISTENT],
-  "IsMetric": [TxType.PERSISTENT],
-  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  "IsRHD": [TxType.PERSISTENT],
-  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "LastAthenaPingTime": [TxType.PERSISTENT],
-  "LastUpdateTime": [TxType.PERSISTENT],
-  "LastUpdateException": [TxType.PERSISTENT],
-  "LiveParameters": [TxType.PERSISTENT],
-  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  "LaneChangeEnabled": [TxType.PERSISTENT],
-  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Passive": [TxType.PERSISTENT],
-  "RecordFront": [TxType.PERSISTENT],
-  "ReleaseNotes": [TxType.PERSISTENT],
-  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "SubscriberInfo": [TxType.PERSISTENT],
-  "TermsVersion": [TxType.PERSISTENT],
-  "TrainingVersion": [TxType.PERSISTENT],
-  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  "Version": [TxType.PERSISTENT],
-  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-}
-
-
-def fsync_dir(path):
-  fd = os.open(path, os.O_RDONLY)
-  try:
-    os.fsync(fd)
-  finally:
-    os.close(fd)
-
-
-class FileLock():
-  def __init__(self, path, create, lock_ex):
-    self._path = path
-    self._create = create
-    self._fd = None
-    self._lock_ex = lock_ex
-
-  def acquire(self):
-    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
-    fcntl.flock(self._fd, fcntl.LOCK_EX if self._lock_ex else fcntl.LOCK_SH)
-
-  def release(self):
-    if self._fd is not None:
-      os.close(self._fd)
-      self._fd = None
-
-
-class DBAccessor():
-  def __init__(self, path):
-    self._path = path
-    self._vals = None
-
-  def keys(self):
-    self._check_entered()
-    return self._vals.keys()
-
-  def get(self, key):
-    self._check_entered()
-
-    if self._vals is None:
-      return None
-
-    try:
-      return self._vals[key]
-    except KeyError:
-      return None
-
-  def _get_lock(self, create, lock_ex):
-    lock = FileLock(os.path.join(self._path, ".lock"), create, lock_ex)
-    lock.acquire()
-    return lock
-
-  def _read_values_locked(self):
-    """Callers should hold a lock while calling this method."""
-    vals = {}
-    try:
-      data_path = self._data_path()
-      keys = os.listdir(data_path)
-      for key in keys:
-        with open(os.path.join(data_path, key), "rb") as f:
-          vals[key] = f.read()
-    except (OSError, IOError) as e:
-      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
-      # inconsistent state. Either way, return empty.
-      if e.errno == errno.ENOENT:
-        return {}
-
-    return vals
-
-  def _data_path(self):
-    return os.path.join(self._path, "d")
-
-  def _check_entered(self):
-    if self._vals is None:
-      raise Exception("Must call __enter__ before using DB")
-
-
-class DBReader(DBAccessor):
-  def __enter__(self):
-    try:
-      lock = self._get_lock(False, False)
-    except OSError as e:
-      # Do not create lock if it does not exist.
-      if e.errno == errno.ENOENT:
-        self._vals = {}
-        return self
-
-    try:
-      # Read everything.
-      self._vals = self._read_values_locked()
-      return self
-    finally:
-      lock.release()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    pass
-
-
-class DBWriter(DBAccessor):
-  def __init__(self, path):
-    super(DBWriter, self).__init__(path)
-    self._lock = None
-    self._prev_umask = None
-
-  def put(self, key, value):
-    self._vals[key] = value
-
-  def delete(self, key):
-    self._vals.pop(key, None)
-
-  def __enter__(self):
-    mkdirs_exists_ok(self._path)
-
-    # Make sure we can write and that permissions are correct.
-    self._prev_umask = os.umask(0)
-
-    try:
-      os.chmod(self._path, 0o777)
-      self._lock = self._get_lock(True, True)
-      self._vals = self._read_values_locked()
-    except Exception:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-      raise
-
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self._check_entered()
-
-    try:
-      # data_path refers to the externally used path to the params. It is a symlink.
-      # old_data_path is the path currently pointed to by data_path.
-      # tempdir_path is a path where the new params will go, which the new data path will point to.
-      # new_data_path is a temporary symlink that will atomically overwrite data_path.
-      #
-      # The current situation is:
-      #   data_path -> old_data_path
-      # We're going to write params data to tempdir_path
-      #   tempdir_path -> params data
-      # Then point new_data_path to tempdir_path
-      #   new_data_path -> tempdir_path
-      # Then atomically overwrite data_path with new_data_path
-      #   data_path -> tempdir_path
-      old_data_path = None
-      new_data_path = None
-      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
-
-      try:
-        # Write back all keys.
-        os.chmod(tempdir_path, 0o777)
-        for k, v in self._vals.items():
-          with open(os.path.join(tempdir_path, k), "wb") as f:
-            f.write(v)
-            f.flush()
-            os.fsync(f.fileno())
-        fsync_dir(tempdir_path)
-
-        data_path = self._data_path()
-        try:
-          old_data_path = os.path.join(self._path, os.readlink(data_path))
-        except (OSError, IOError):
-          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
-          #                 copies to be left behind, but we still want to overwrite.
-          pass
-
-        new_data_path = "{}.link".format(tempdir_path)
-        os.symlink(os.path.basename(tempdir_path), new_data_path)
-        os.rename(new_data_path, data_path)
-        fsync_dir(self._path)
-      finally:
-        # If the rename worked, we can delete the old data. Otherwise delete the new one.
-        success = new_data_path is not None and os.path.exists(data_path) and (
-          os.readlink(data_path) == os.path.basename(tempdir_path))
-
-        if success:
-          if old_data_path is not None:
-            shutil.rmtree(old_data_path)
-        else:
-          shutil.rmtree(tempdir_path)
-
-        # Regardless of what happened above, there should be no link at new_data_path.
-        if new_data_path is not None and os.path.islink(new_data_path):
-          os.remove(new_data_path)
-    finally:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-
-      # Always release the lock.
-      self._lock.release()
-      self._lock = None
-
-
-def read_db(params_path, key):
-  path = "%s/d/%s" % (params_path, key)
-  try:
-    with open(path, "rb") as f:
-      return f.read()
-  except IOError:
-    return None
-
-
-def write_db(params_path, key, value):
-  if isinstance(value, str):
-    value = value.encode('utf8')
-
-  prev_umask = os.umask(0)
-  lock = FileLock(params_path + "/.lock", True, True)
-  lock.acquire()
-
-  try:
-    tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
-    with tmp_path as f:
-      f.write(value)
-      f.flush()
-      os.fsync(f.fileno())
-    os.chmod(tmp_path.name, 0o666)
-
-    path = "%s/d/%s" % (params_path, key)
-    os.rename(tmp_path.name, path)
-    fsync_dir(os.path.dirname(path))
-  finally:
-    os.umask(prev_umask)
-    lock.release()
-
-
-class Params():
-  def __init__(self, db=PARAMS):
-    self.db = db
-
-    # create the database if it doesn't exist...
-    if not os.path.exists(self.db + "/d"):
-      with self.transaction(write=True):
-        pass
-
-  def clear_all(self):
-    shutil.rmtree(self.db, ignore_errors=True)
-    with self.transaction(write=True):
-      pass
-
-  def transaction(self, write=False):
-    if write:
-      return DBWriter(self.db)
-    else:
-      return DBReader(self.db)
-
-  def _clear_keys_with_type(self, tx_type):
-    with self.transaction(write=True) as txn:
-      for key in keys:
-        if tx_type in keys[key]:
-          txn.delete(key)
-
-  def manager_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
-
-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def delete(self, key):
-    with self.transaction(write=True) as txn:
-      txn.delete(key)
-
-  def get(self, key, block=False, encoding=None):
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    while 1:
-      ret = read_db(self.db, key)
-      if not block or ret is not None:
-        break
-      # is polling really the best we can do?
-      time.sleep(0.05)
-
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-
-    return ret
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-
-    Use the put_nonblocking helper function in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    write_db(self.db, key, dat)
-
-
-def put_nonblocking(key, val):
-  def f(key, val):
-    params = Params()
-    params.put(key, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+assert Params
+assert ParamKeyType
+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)}")

common/params_pxd.pxd

@@ -0,0 +1,27 @@
+from libcpp.string cimport string
+from libcpp cimport bool
+
+cdef extern from "selfdrive/common/params.cc":
+  pass
+
+cdef extern from "selfdrive/common/util.cc":
+  pass
+
+cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION
+    ALL
+
+  cdef cppclass Params:
+    Params(bool)
+    Params(string)
+    string get(string, bool) nogil
+    bool getBool(string)
+    int remove(string)
+    int put(string, string)
+    int putBool(string, bool)
+    bool checkKey(string)
+    void clearAll(ParamKeyType)

common/params_pyx.pyx

@@ -0,0 +1,108 @@
+# distutils: language = c++
+# cython: language_level = 3
+from libcpp cimport bool
+from libcpp.string cimport string
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
+
+import os
+import threading
+from common.basedir import BASEDIR
+
+
+cdef class ParamKeyType:
+  PERSISTENT = c_ParamKeyType.PERSISTENT
+  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
+  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
+  CLEAR_ON_IGNITION = c_ParamKeyType.CLEAR_ON_IGNITION
+  ALL = c_ParamKeyType.ALL
+
+def ensure_bytes(v):
+  if isinstance(v, str):
+    return v.encode()
+  else:
+    return v
+
+
+class UnknownKeyName(Exception):
+  pass
+
+cdef class Params:
+  cdef c_Params* p
+
+  def __cinit__(self, d=None, bool persistent_params=False):
+    if d is None:
+      self.p = new c_Params(persistent_params)
+    else:
+      self.p = new c_Params(<string>d.encode())
+
+  def __dealloc__(self):
+    del self.p
+
+  def clear_all(self, tx_type=None):
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL
+
+    self.p.clearAll(tx_type)
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+
+    if not self.p.checkKey(key):
+      raise UnknownKeyName(key)
+
+    return key
+
+  def get(self, key, block=False, encoding=None):
+    cdef string k = self.check_key(key)
+    cdef bool b = block
+
+    cdef string val
+    with nogil:
+      val = self.p.get(k, b)
+
+    if val == b"":
+      if block:
+        # If we got no value while running in blocked mode
+        # it means we got an interrupt while waiting
+        raise KeyboardInterrupt
+      else:
+        return None
+
+    if encoding is not None:
+      return val.decode(encoding)
+    else:
+      return val
+
+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    return self.p.getBool(k)
+
+  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+    cdef string k = self.check_key(key)
+    dat = ensure_bytes(dat)
+    self.p.put(k, dat)
+
+  def put_bool(self, key, val):
+    cdef string k = self.check_key(key)
+    self.p.putBool(k, val)
+
+  def delete(self, key):
+    cdef string k = self.check_key(key)
+    self.p.remove(k)
+
+
+def put_nonblocking(key, val, d=None):
+  def f(key, val):
+    params = Params(d)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t

common/profiler.py

@@ -36,10 +36,10 @@ class Profiler():
     if not self.enabled:
       return
     self.iter += 1
-    print("******* Profiling *******")
+    print("******* Profiling %d *******" % self.iter)
     for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
       if n in self.cp_ignored:
-        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
       else:
-        print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
     print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))

common/realtime.py

@@ -4,21 +4,31 @@ import os
 import time
 import multiprocessing
 
-from common.hardware import PC
-from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from common.clock 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
-  CTRL_LOW = MIN_REALTIME
-  CTRL_HIGH = MIN_REALTIME + 1
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
+
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53
 
 
 def set_realtime_priority(level):
@@ -31,7 +41,7 @@ def set_core_affinity(core):
     os.sched_setaffinity(0, [core,])
 
 
-def config_rt_process(core, priority):
+def config_realtime_process(core, priority):
   gc.disable()
   set_realtime_priority(priority)
   set_core_affinity(core)

common/spinner.py

@@ -4,22 +4,19 @@ from common.basedir import BASEDIR
 
 
 class Spinner():
-  def __init__(self, noop=False):
-    # spinner is currently only implemented for android
-    self.spinner_proc = None
-    if not noop:
-      try:
-        self.spinner_proc = subprocess.Popen(["./spinner"],
-                                             stdin=subprocess.PIPE,
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                             close_fds=True)
-      except OSError:
-        self.spinner_proc = None
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                           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(round(100 * cur / total)))
+
   def close(self):
     if self.spinner_proc is not None:
       try:

common/text_window.py

@@ -6,17 +6,14 @@ from common.basedir import BASEDIR
 
 
 class TextWindow:
-  def __init__(self, s, noop=False):
-    # text window is only implemented for android currently
-    self.text_proc = None
-    if not noop:
-      try:
-        self.text_proc = subprocess.Popen(["./text", s],
-                                          stdin=subprocess.PIPE,
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
-                                          close_fds=True)
-      except OSError:
-        self.text_proc = None
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
 
   def get_status(self):
     if self.text_proc is not None:

common/transformations/SConscript

@@ -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'],
-            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
-             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
-            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
+envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/camera.py

@@ -1,29 +1,67 @@
 import numpy as np
-import common.transformations.orientation as orient
 
-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
+import common.transformations.orientation as orient
+from selfdrive.hardware import TICI
+
+## -- 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([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
-
+eon_fcam_intrinsics = np.array([
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+eon_intrinsics = eon_fcam_intrinsics # xx
 
 leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
-  [  0,  650,  612//2],
-  [  0,    0,     1]])
+  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
+  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
 
 eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
-  [  0,  860,  864//2],
-  [  0,    0,     1]])
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
+  [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)

common/transformations/coordinates.cc

@@ -6,8 +6,6 @@
 
 #include "coordinates.hpp"
 
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
 
 
 double a = 6378137; // lgtm [cpp/short-global-name]

common/transformations/coordinates.hpp

@@ -1,5 +1,8 @@
 #pragma once
 
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
   double x, y, z;
   Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {
 
 struct NED {
   double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };
 
 struct Geodetic {

common/transformations/model.py

@@ -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([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
+def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
+  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
+                   [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(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
+model_intrinsics = np.array([
+  [model_fl,  0.0,  MODEL_CX],
+  [0.0,  model_fl,  MODEL_CY],
+  [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_intrinsics = np.array(
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+medmodel_fl = 910.0
+medmodel_intrinsics = np.array([
+  [medmodel_fl,  0.0,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+  [0.0,  medmodel_fl,                   MEDMODEL_CY],
+  [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_intrinsics = np.array(
-  [[ eon_focal_length / calmodel_zoom,    0. ,  0.5 * CALMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / calmodel_zoom,  CALMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+calmodel_fl = 606.7
+calmodel_intrinsics = np.array([
+  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
+  [0.0,  calmodel_fl,                   CALMODEL_CY],
+  [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_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+bigmodel_fl = 910.0
+bigmodel_intrinsics = np.array([
+  [bigmodel_fl,  0.0,  0.5 * BIGMODEL_INPUT_SIZE[0]],
+  [0.0,  bigmodel_fl,             256 + MEDMODEL_CY],
+  [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],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 0],
+    [0, 0, 1],
   ]))
 
   camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, height - model_height],
+    [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],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
+    [0.0,  0.0,                                   1.0],
   ])
 
   # This function is super slow, so skip it if height is very close to canonical

common/transformations/orientation.cc

@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
   // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
   // return {euler(2), euler(1), euler(0)};
   double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
   double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
   return {gamma, theta, psi};
 }
@@ -39,7 +40,7 @@ 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 +48,7 @@ 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 +142,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
   return {phi, theta, psi};
 }
 
-
-
-int main(void){
-}

common/transformations/orientation.hpp

@@ -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);

common/transformations/setup.py

@@ -1,42 +0,0 @@
-import os
-import numpy
-import sysconfig
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-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)
-
-
-setup(
-  name='Cython transformations wrapper',
-  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-  ext_modules=cythonize(
-  Extension(
-    "transformations",
-    sources=["transformations.pyx"],
-    language="c++",
-    extra_compile_args=["-std=c++14"],
-    include_dirs=[numpy.get_include()],
-  )
-))

common/transformations/transformations.pxd

@@ -1,3 +1,4 @@
+#cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":

common/transformations/transformations.pyx

@@ -1,18 +1,20 @@
-from transformations cimport Matrix3, Vector3, Quaternion
-from transformations cimport ECEF, NED, Geodetic
+# distutils: language = c++
+# 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 transformations cimport quat2euler as quat2euler_c
-from transformations cimport quat2rot as quat2rot_c
-from transformations cimport rot2quat as rot2quat_c
-from transformations cimport euler2rot as euler2rot_c
-from transformations cimport rot2euler as rot2euler_c
-from transformations cimport rot_matrix as rot_matrix_c
-from 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 transformations cimport geodetic2ecef as geodetic2ecef_c
-from transformations cimport ecef2geodetic as ecef2geodetic_c
-from transformations cimport LocalCoord_c
+from common.transformations.transformations cimport euler2quat as euler2quat_c
+from common.transformations.transformations cimport quat2euler as quat2euler_c
+from common.transformations.transformations cimport quat2rot as quat2rot_c
+from common.transformations.transformations cimport rot2quat as rot2quat_c
+from common.transformations.transformations cimport euler2rot as euler2rot_c
+from common.transformations.transformations cimport rot2euler as rot2euler_c
+from common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from common.transformations.transformations cimport LocalCoord_c
 
 
 import cython
@@ -26,7 +28,7 @@ cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
         [m(2, 0), m(2, 1), m(2, 2)],
     ])
 
-cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     assert m.shape[0] == 3
     assert m.shape[1] == 3
     return Matrix3(<double*>m.data)

installer/updater/Makefile

@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 CURL_FLAGS = -I$(PHONELIBS)/curl/include
 CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
@@ -34,6 +34,7 @@ all: updater
 OBJS = opensans_regular.ttf.o \
 			 opensans_semibold.ttf.o \
 			 opensans_bold.ttf.o \
+       ../../selfdrive/common/util.o \
        ../../selfdrive/common/touch.o \
        ../../selfdrive/common/framebuffer.o \
        $(PHONELIBS)/json11/json11.o \

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
-  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
+  "ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
 }

installer/updater/update_kernel.json

@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
-  "ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
-}

installer/updater/updater.cc

@@ -1,36 +1,33 @@
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+#include <unistd.h>
+
+#include <cassert>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
 #include <fstream>
 #include <iostream>
+#include <memory>
 #include <mutex>
+#include <sstream>
+#include <string>
 #include <thread>
 
 #include <curl/curl.h>
 #include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
-
+#include <GLES3/gl3.h>
 #include "nanovg.h"
 #define NANOVG_GLES3_IMPLEMENTATION
+#include "json11.hpp"
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
 
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/touch.h"
+#include "selfdrive/common/util.h"
 
 #define USER_AGENT "NEOSUpdater-0.2"
 
@@ -183,7 +180,7 @@ struct Updater {
 
   int fb_w, fb_h;
 
-  FramebufferState *fb = NULL;
+  std::unique_ptr<FrameBuffer> fb;
   NVGcontext *vg = NULL;
   int font_regular;
   int font_semibold;
@@ -227,9 +224,9 @@ struct Updater {
   void ui_init() {
     touch_init(&touch);
 
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &fb_w, &fb_h);
-    assert(fb);
+    fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
+
+    fb->set_power(HWC_POWER_MODE_NORMAL);
 
     vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
     assert(vg);
@@ -249,7 +246,12 @@ struct Updater {
     b_y = 720;
     b_h = 220;
 
-    state = CONFIRMATION;
+    if (download_stage(true)) {
+      state = RUNNING;
+      update_thread_handle = std::thread(&Updater::run_stages, this);
+    } else {
+      state = CONFIRMATION;
+    }
   }
 
   int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
@@ -350,11 +352,15 @@ struct Updater {
     state = RUNNING;
   }
 
-  std::string download(std::string url, std::string hash, std::string name) {
+  std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
     std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
 
-    // start or resume downloading if hash doesn't match
     std::string fn_hash = sha256_file(out_fn);
+    if (dry_run) {
+      return (hash.compare(fn_hash) != 0) ? "" : out_fn;
+    }
+
+    // start or resume downloading if hash doesn't match
     if (hash.compare(fn_hash) != 0) {
       set_progress("Downloading " + name + "...");
       bool r = download_file(url, out_fn);
@@ -376,14 +382,14 @@ struct Updater {
     return out_fn;
   }
 
-  bool download_stage() {
+  bool download_stage(bool dry_run = false) {
     curl = curl_easy_init();
     assert(curl);
 
     // ** quick checks before download **
 
     if (!check_space()) {
-      set_error("2GB of free space required to update");
+      if (!dry_run) set_error("2GB of free space required to update");
       return false;
     }
 
@@ -431,7 +437,7 @@ struct Updater {
       printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
 
       if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery");
+        recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
         if (recovery_fn.empty()) {
           // error'd
           return false;
@@ -440,7 +446,7 @@ struct Updater {
     }
 
     // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update");
+    ota_fn = download(ota_url, ota_hash, "update", dry_run);
     if (ota_fn.empty()) {
       //error'd
       return false;
@@ -463,7 +469,7 @@ 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();
     }
@@ -481,7 +487,7 @@ 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();
     }
@@ -749,12 +755,12 @@ 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()) {

launch.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh

launch_chffrplus.sh

@@ -9,24 +9,71 @@ 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/boost/cpus
   echo 0-1 > /dev/cpuset/foreground/cpus
+  echo 0-1 > /dev/cpuset/foreground/boost/cpus
   echo 0-1 > /dev/cpuset/android/cpus
 
   # 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)
-  # 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
+  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
+
+  # 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
@@ -43,32 +90,84 @@ function two_init {
     fi
 
     "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
-  else
-    if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
-      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
-    fi
   fi
+}
 
-  # One-time fix for a subset of OP3T with gyro orientation offsets.
-  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
-  # Performed exactly once. The old registry is preserved just-in-case, and
-  # doubles as a flag denoting we've already done the reset.
-  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
-    echo "Performing OP3T sensor registry reset"
-    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
-      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
-      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
-      sleep 5  # Give Android sensor subsystem a moment to recover
+function tici_init {
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  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 {
-  # Wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
 
+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -99,6 +198,7 @@ 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"
@@ -108,18 +208,23 @@ 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
+
   # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

launch_env.sh

@@ -7,7 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="14"
+  export REQUIRED_NEOS_VERSION="16.2"
+fi
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="0.14"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/.gitignore

@@ -1,6 +1,7 @@
 .mypy_cache/
 *.pyc
 *.os
+*.o
 *.tmp
 *.dylib
 .*.swp

opendbc/acura_ilx_2016_can_generated.dbc

@@ -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";
 
 
 

opendbc/acura_rdx_2018_can_generated.dbc

@@ -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";
 
 
 

opendbc/acura_rdx_2020_can_generated.dbc

@@ -0,0 +1,434 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _bosch_2020.dbc starts here";
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ 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
+
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+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";
+
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/can/SConscript

@@ -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'],
-            cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
-            "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
+lenv = envCython.Clone()
+lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
+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)

opendbc/can/common.cc

@@ -97,23 +97,22 @@ 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];
       break;
-    case 0x9F:  // EPS_01 Electric Power Steering
+    case 0x9F:  // LH_EPS_03 Electric Power Steering
       crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
       break;
     case 0xAD:  // Getriebe_11 Automatic Gearbox
@@ -126,7 +125,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
       crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
       break;
     case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
       break;
     case 0x120: // TSK_06 Drivetrain Coordinator
       crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
@@ -152,6 +151,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
       crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
       break;
+    case 0x324: // ACC_04 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
       crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
       break;
@@ -176,11 +178,9 @@ 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);

opendbc/can/common.h

@@ -5,8 +5,12 @@
 #include <unordered_map>
 
 #include "common_dbc.h"
+#include <capnp/dynamic.h>
 #include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
+#endif
 
 #define MAX_BAD_COUNTER 5
 
@@ -36,6 +40,9 @@ public:
   uint8_t counter;
   uint8_t counter_fail;
 
+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
   bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
@@ -43,6 +50,7 @@ public:
 class CANParser {
 private:
   const int bus;
+  kj::Array<capnp::word> aligned_buf;
 
   const DBC *dbc = NULL;
   std::unordered_map<uint32_t, MessageState> message_states;
@@ -54,9 +62,13 @@ public:
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<MessageParseOptions> &options,
             const std::vector<SignalParseOptions> &sigoptions);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
+  void update_string(const std::string &data, bool sendcan);
   void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);
-  void update_string(std::string data, bool sendcan);
   std::vector<SignalValue> query_latest();
 };
 
@@ -68,5 +80,6 @@ private:
 
 public:
   CANPacker(const std::string& dbc_name);
-  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
+  Msg* lookup_message(uint32_t address);
 };

opendbc/can/common_dbc.h

@@ -3,6 +3,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
@@ -74,6 +75,7 @@ struct DBC {
   size_t num_vals;
 };
 
+std::vector<const DBC*>& get_dbcs();
 const DBC* dbc_lookup(const std::string& dbc_name);
 
 void dbc_register(const DBC* dbc);

opendbc/can/common_pyx_setup.py

@@ -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++14", "-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")

opendbc/can/dbc.cc

@@ -2,15 +2,11 @@
 
 #include "common_dbc.h"
 
-namespace {
-
 std::vector<const DBC*>& get_dbcs() {
   static std::vector<const DBC*> vec;
   return vec;
 }
 
-}
-
 const DBC* dbc_lookup(const std::string& dbc_name) {
   for (const auto& dbci : get_dbcs()) {
     if (dbc_name == dbci->name) {