Hotfix: fix UI crash when going onroad after onboarding

This reverts commit 3c9e46d8a2ec3f9c347b0f455f66179c8220c1e2.

.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/
@@ -55,8 +60,7 @@ notebooks
 xx
 hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning
 
 .coverage*
 coverage.xml
@@ -67,4 +71,7 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
-comma.sh
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed

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: 150, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -35,12 +52,12 @@ pipeline {
     TEST_DIR = "/data/openpilot"
   }
   options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
   }
 
   stages {
 
-    stage('Release Build') {
+    stage('Build release2') {
       agent {
         docker {
           image 'python:3.7.3'
@@ -61,12 +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 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
           }
         }
       }
 
-
       stages {
 
         /*
@@ -96,6 +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'
             }
@@ -104,19 +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 && 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"],
                     ])
                   }
                 }
@@ -124,7 +138,8 @@ pipeline {
                 stage('Replay Tests') {
                   steps {
                     phone_steps("eon2", [
-                      ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                     ])
                   }
                 }
@@ -132,18 +147,88 @@ pipeline {
                 stage('HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["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 camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+                      ["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 -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", "cd selfdrive/manager && ./build.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["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", "cd selfdrive/manager && ./build.py"],
+                      ["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", "cd selfdrive/manager && ./build.py"],
+                      ["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 {
@@ -158,3 +243,4 @@ pipeline {
     }
   }
 }
+

README.md

@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
+| 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 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
@@ -77,42 +77,48 @@ Supported Cars
 | 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 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph              |
+| 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 2019-20                    | 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 2020-21                    | 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              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 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 2020-21               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 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 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -129,6 +135,9 @@ Community Maintained Cars and Features
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | 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         |
@@ -136,46 +145,67 @@ 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 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   | Elantra 2017-19, 2021         | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | 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                   | SCC + LKAS        | 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         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-19                 | 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         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | 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 2019-20              | 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 ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+<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
 ------
 
@@ -263,7 +293,7 @@ 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).
@@ -305,10 +335,9 @@ 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
@@ -331,8 +360,6 @@ 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 +1,59 @@
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * 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

SConstruct

@@ -13,10 +13,40 @@ 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')
 
+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('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+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":
   arch = "Darwin"
@@ -25,13 +55,13 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 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
@@ -43,6 +73,7 @@ if arch == "aarch64" or arch == "larch64":
   ]
 
   libpath = [
+    "/usr/local/lib",
     "/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
@@ -55,6 +86,9 @@ 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"]
@@ -67,37 +101,33 @@ if arch == "aarch64" or arch == "larch64":
     cflags = ["-DQCOM", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
     rpath = []
-
-    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",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -106,7 +136,6 @@ else:
 
   rpath = [
     "phonelibs/snpe/x86_64-linux-clang",
-    "external/tensorflow/lib",
     "cereal",
     "selfdrive/common"
   ]
@@ -115,11 +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
@@ -138,11 +174,11 @@ env = Environment(
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-  ] + cflags + ccflags_asan,
+  ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
     "#",
-    "#selfdrive",
+    "#phonelibs/catch2/include",
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
     "#phonelibs/openmax/include",
@@ -154,23 +190,19 @@ env = Environment(
     "#phonelibs/android_system_core/include",
     "#phonelibs/linux/include",
     "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
     "#phonelibs/nanovg",
-    "#selfdrive/boardd",
-    "#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,
 
@@ -188,18 +220,13 @@ env = Environment(
   tools=["default", "cython", "compilation_db"],
 )
 
-if GetOption('test'):
+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 QCOM_REPLAY:
-    cache_dir = '/tmp/scons_cache_qcom_replay'
-
-  CacheDir(cache_dir)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
 node_interval = 5
 node_count = 0
@@ -239,9 +266,75 @@ else:
 
 Export('envCython')
 
-# still needed for apks
-zmq = 'zmq'
-Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+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')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -251,26 +344,55 @@ 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'])
@@ -287,13 +409,12 @@ 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

@@ -6,10 +6,16 @@ package-lock.json
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
+*.o
+*.a
+
+test_runner
+
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
+catch2/

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'zmq')
+Import('env', 'envCython', 'arch')
 
 import shutil
 
@@ -6,30 +6,28 @@ 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'],
+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'],
+              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',
@@ -42,20 +40,38 @@ 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"])
 
+
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
+
+if arch in ["aarch64", "larch64"]:
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
+if arch == "Darwin":
+  del libs[libs.index('OpenCL')]
+  envCython['FRAMEWORKS'] += ['OpenCL']
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
+
+
 if GetOption('test'):
   env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
+  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
@@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   permanent @8 :Bool; # alerts presented regardless of openpilot state
 
   enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
     canError @0;
     steerUnavailable @1;
     brakeUnavailable @2;
@@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCanError @15;
     speedTooLow @17;
     outOfSpace @18;
     overheat @19;
@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualRestart @30;
     lowSpeedLockout @31;
     plannerError @32;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableUserOverride @35;
     resumeRequired @36;
     preDriverDistracted @37;
     promptDriverDistracted @38;
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     belowSteerSpeed @46;
     lowBattery @48;
     vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
     sensorDataInvalid @52;
     commIssue @53;
     tooDistracted @54;
@@ -73,13 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     preLaneChangeLeft @57;
     preLaneChangeRight @58;
     laneChange @59;
-    internetConnectivityNeeded @61;
     communityFeatureDisallowed @62;
     lowMemory @63;
     stockAeb @64;
     ldw @65;
     carUnrecognized @66;
-    radarCommIssue @67;
     driverMonitorLowAcc @68;
     invalidLkasSetting @69;
     speedTooHigh @70;
@@ -91,6 +89,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupNoCar @76;
     startupNoControl @77;
     startupMaster @78;
+    startupFuzzyFingerprint @97;
+    startupNoFw @104;
     fcw @79;
     steerSaturated @80;
     belowEngageSpeed @84;
@@ -100,9 +100,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     deviceFalling @90;
     fanMalfunction @91;
     cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
 
-    startupOneplus @82;
-
+    radarCanErrorDEPRECATED @15;
+    radarCommIssueDEPRECATED @67;
     gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
@@ -113,11 +122,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgressDEPRECATED @47;
     invalidGiraffeHondaDEPRECATED @49;
     invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
     whitePandaUnsupportedDEPRECATED @81;
     commIssueWarningDEPRECATED @83;
     focusRecoverActiveDEPRECATED @86;
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
   }
 }
 
@@ -125,7 +136,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
   events @13 :List(CarEvent);
 
   # car speed
@@ -143,11 +153,10 @@ struct CarState {
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;
 
   # steering wheel
-  steeringAngle @7 :Float32;       # deg
-  steeringRate @15 :Float32;       # deg/s
+  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
@@ -235,6 +244,9 @@ struct CarState {
       gapAdjustCruise @11;
     }
   }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
 }
 
 # ******* radar state @ 20hz *******
@@ -278,10 +290,6 @@ struct CarControl {
   enabled @0 :Bool;
   active @7 :Bool;
 
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
   actuators @6 :Actuators;
 
   cruiseControl @4 :CruiseControl;
@@ -293,7 +301,7 @@ struct CarControl {
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
   }
 
   struct CruiseControl {
@@ -329,8 +337,6 @@ 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;
@@ -342,6 +348,10 @@ struct CarControl {
       chimeWarning2Repeat @8;
     }
   }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 }
 
 # ****** car param ******
@@ -349,15 +359,19 @@ 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
+  hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
   safetyModel @9 :SafetyModel;
   safetyModelPassive @42 :SafetyModel = silent;
   safetyParam @10 :Int16;
@@ -370,11 +384,11 @@ 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
@@ -406,10 +420,10 @@ struct CarParams {
   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;
@@ -438,10 +452,19 @@ 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 {
@@ -496,6 +519,7 @@ struct CarParams {
     automatic @1;  # Traditional auto, including DSG
     manual @2;  # True "stick shift" only
     direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
   }
 
   struct CarFw {
@@ -539,4 +563,6 @@ 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(){};
 };
 
@@ -64,22 +66,26 @@ public:
 
 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);
-  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); }
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
   void drain();
   ~SubMaster();
 
   uint64_t frame = 0;
   bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
   uint64_t rcv_frame(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;
 
 private:
-  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
   Poller *poller_ = nullptr;
   struct SubMessage;
   std::map<SubSocket *, SubMessage *> messages_;
@@ -111,7 +117,7 @@ private:
 
 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<const char *> &service_list);
   inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
   int send(const char *name, MessageBuilder &msg);
   ~PubMaster();
@@ -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

@@ -149,3 +149,6 @@ cdef class PubSocket:
         raise MultiplePublishersError
       else:
         raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()

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/";
@@ -465,3 +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

@@ -5,7 +5,7 @@
 #include <atomic>
 
 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)
 
 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -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 +1,13 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
 #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;
@@ -16,7 +22,7 @@ static const service *get_service(const char *name) {
   return nullptr;
 }
 
-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
   }
@@ -25,89 +31,106 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
 
 class MessageContext {
 public:
-  MessageContext() { ctx_ = Context::create(); }
+  MessageContext() : ctx_(nullptr) {};
   ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
   Context *ctx_;
+  std::once_flag init_flag;
 };
-MessageContext ctx;
+
+MessageContext message_context;
 
 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;
 };
 
-SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
-                     const std::initializer_list<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
   poller_ = Poller::create();
   for (auto name : service_list) {
     const service *serv = get_service(name);
     assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     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))};
+    m->msg_reader = new (m->allocated_msg_reader) 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->~FlatArrayMessageReader();
+    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;
     }
-    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>();
+    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) {
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
   int found = 0;
   for (auto &kv : messages_) {
     SubMessage *m = kv.second;
     if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
     }
   }
   return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,11 +153,23 @@ 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;
 }
 
-cereal::Event::Reader &SubMaster::operator[](const char *name) {
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
   return services_.at(name)->event;
 };
 
@@ -142,19 +177,17 @@ SubMaster::~SubMaster() {
   delete poller_;
   for (auto &kv : messages_) {
     SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
     free(m->allocated_msg_reader);
     delete m->socket;
     delete m;
   }
 }
 
-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;
   }

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
+
+TICI = os.path.isfile('/TICI')
+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 not TICI else 20., 1),
+  "driverEncodeIdx": (True, 10. if not TICI else 20., 1),
+  "driverState": (True, 10. if not TICI else 20., 1),
+  "driverMonitoringState": (True, 10. if not TICI 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 += '  { "%s", %d, %s, %d, %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) {
+#ifdef QCOM
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
+#else
+  *aligned_w = width; *aligned_h = height;
+#endif
+}
+
+void VisionBuf::init_rgb(size_t 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

@@ -10,7 +10,7 @@
 #include <unistd.h>
 #include <linux/ion.h>
 #include <CL/cl_ext.h>
-#include "common/clutil.h"
+
 #include <msm_ion.h>
 
 #include "visionbuf.h"
@@ -36,7 +36,7 @@ static void ion_init() {
   }
 }
 
-VisionBuf visionbuf_allocate(size_t len) {
+void VisionBuf::allocate(size_t len) {
   int err;
 
   ion_init();
@@ -62,46 +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) {
-  VisionBuf buf = visionbuf_allocate(len);
+void VisionBuf::import(){
+  int err;
+  assert(this->fd >= 0);
 
-  assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
+  ion_init();
+
+  // Get handle
+  struct ion_fd_data fd_data = {0};
+  fd_data.fd = this->fd;
+  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
+  assert(err == 0);
+
+  this->owner = false;
+  this->handle = fd_data.handle;
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
+  int err;
+
+  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
 
   cl_mem_ion_host_ptr ion_cl = {0};
   ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
   ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = buf.fd;
-  ion_cl.ion_hostptr = buf.addr;
+  ion_cl.ion_filedesc = this->fd;
+  ion_cl.ion_hostptr = this->addr;
 
-  buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx,
+  this->buf_cl = clCreateBuffer(ctx,
                               CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              buf.len, &ion_cl, &err));
-  return buf;
+                              this->len, &ion_cl, &err);
+  assert(err == 0);
 }
 
 
-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
@@ -109,36 +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) {
-  if (buf->buf_cl) {
-    CL_CHECK(clReleaseMemObject(buf->buf_cl));
+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);
   }
-  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);
 }

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

@@ -1,4 +1,4 @@
-Import('envCython')
+Import('envCython', 'common')
 
 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.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/basedir.py

@@ -1,8 +1,11 @@
 import os
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+from pathlib import Path
 
 from selfdrive.hardware import PC
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 if PC:
-  PERSIST = os.path.join(BASEDIR, "persist")
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
   PERSIST = "/persist"

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/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

@@ -1,4 +1,24 @@
-from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+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

@@ -4,13 +4,25 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
   pass
 
-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
   pass
 
 cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
   cdef cppclass Params:
     Params(bool)
     Params(string)
     string get(string, bool) nogil
-    int delete_db_value(string)
-    int write_db_value(string, string)
+    bool getBool(string)
+    int remove(string)
+    int put(string, string)
+    int putBool(string, bool)
+    bool checkKey(string)
+    void clearAll(ParamKeyType)

common/params_pyx.pyx

@@ -2,75 +2,20 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
 
 import os
 import threading
 from common.basedir import BASEDIR
 
-cdef enum TxType:
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
 
-keys = {
-  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  b"AthenadPid": [TxType.PERSISTENT],
-  b"CalibrationParams": [TxType.PERSISTENT],
-  b"CarBatteryCapacity": [TxType.PERSISTENT],
-  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
-  b"CompletedTrainingVersion": [TxType.PERSISTENT],
-  b"DisablePowerDown": [TxType.PERSISTENT],
-  b"DisableUpdates": [TxType.PERSISTENT],
-  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  b"DongleId": [TxType.PERSISTENT],
-  b"GitBranch": [TxType.PERSISTENT],
-  b"GitCommit": [TxType.PERSISTENT],
-  b"GitRemote": [TxType.PERSISTENT],
-  b"GithubSshKeys": [TxType.PERSISTENT],
-  b"HasAcceptedTerms": [TxType.PERSISTENT],
-  b"HasCompletedSetup": [TxType.PERSISTENT],
-  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsLdwEnabled": [TxType.PERSISTENT],
-  b"IsMetric": [TxType.PERSISTENT],
-  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsRHD": [TxType.PERSISTENT],
-  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUploadRawEnabled": [TxType.PERSISTENT],
-  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
-  b"LastUpdateException": [TxType.PERSISTENT],
-  b"LiveParameters": [TxType.PERSISTENT],
-  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
-  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Passive": [TxType.PERSISTENT],
-  b"RecordFront": [TxType.PERSISTENT],
-  b"ReleaseNotes": [TxType.PERSISTENT],
-  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"SubscriberInfo": [TxType.PERSISTENT],
-  b"TermsVersion": [TxType.PERSISTENT],
-  b"TrainingVersion": [TxType.PERSISTENT],
-  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  b"Version": [TxType.PERSISTENT],
-  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
-}
+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_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
+  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
+  ALL = c_ParamKeyType.ALL
 
 def ensure_bytes(v):
   if isinstance(v, str):
@@ -95,23 +40,21 @@ cdef class Params:
     del self.p
 
   def clear_all(self, tx_type=None):
-    for key in keys:
-      if tx_type is None or tx_type in keys[key]:
-        self.delete(key)
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL
 
-  def manager_start(self):
-    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+    self.p.clearAll(tx_type)
 
-  def panda_disconnect(self):
-    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def get(self, key, block=False, encoding=None):
+  def check_key(self, key):
     key = ensure_bytes(key)
 
-    if key not in keys:
+    if not self.p.checkKey(key):
       raise UnknownKeyName(key)
 
-    cdef string k = 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
@@ -131,6 +74,10 @@ cdef class Params:
     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!
@@ -138,23 +85,24 @@ cdef class Params:
     Use the put_nonblocking helper function in time sensitive code, but
     in general try to avoid writing params as much as possible.
     """
-    key = ensure_bytes(key)
+    cdef string k = self.check_key(key)
     dat = ensure_bytes(dat)
+    self.p.put(k, dat)
 
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    self.p.write_db_value(key, dat)
+  def put_bool(self, key, val):
+    cdef string k = self.check_key(key)
+    self.p.putBool(k, val)
 
   def delete(self, key):
-    key = ensure_bytes(key)
-    self.p.delete_db_value(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)
-    params.put(key, val)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
 
   t = threading.Thread(target=f, args=(key, val))
   t.start()

common/realtime.py

@@ -3,6 +3,7 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 from selfdrive.hardware import PC, TICI
@@ -31,49 +32,49 @@ class Priority:
   CTRL_HIGH = 53
 
 
-def set_realtime_priority(level):
+def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
 
 
-def set_core_affinity(core):
+def set_core_affinity(core: int) -> None:
   if not PC:
     os.sched_setaffinity(0, [core,])
 
 
-def config_realtime_process(core, priority):
+def config_realtime_process(core: int, priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
   set_core_affinity(core)
 
 
-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
     self._process_name = multiprocessing.current_process().name
 
   @property
-  def frame(self):
+  def frame(self) -> int:
     return self._frame
 
   @property
-  def remaining(self):
+  def remaining(self) -> float:
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval

common/spinner.py

@@ -16,7 +16,7 @@ class Spinner():
   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:
@@ -24,6 +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/transformations/SConscript

@@ -1,3 +1,6 @@
-Import('envCython')
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')
 
 envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/camera.py

@@ -5,14 +5,12 @@ 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
+eon_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)
+eon_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
@@ -22,11 +20,6 @@ eon_fcam_intrinsics = np.array([
   [0.0,  0.0,                                          1.0]])
 eon_intrinsics = eon_fcam_intrinsics # xx
 
-leon_dcam_intrinsics = np.array([
-  [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([
   [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],

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/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);

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
-  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }

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;
@@ -227,11 +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);
 
-    framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
+    fb->set_power(HWC_POWER_MODE_NORMAL);
 
     vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
     assert(vg);
@@ -251,7 +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,
@@ -352,11 +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);
@@ -378,14 +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;
     }
 
@@ -433,7 +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;
@@ -442,7 +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;
@@ -465,7 +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();
     }
@@ -483,7 +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();
     }
@@ -751,12 +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

@@ -8,12 +8,8 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-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'
-}
-
 function two_init {
+
   # Wifi scan
   wpa_cli IFNAME=wlan0 SCAN
 
@@ -59,8 +55,7 @@ function two_init {
   echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
 
   # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
-  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  [ -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"
@@ -96,17 +91,74 @@ function two_init {
 
     "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
   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'
+  nmcli connection modify --temporary lte gsm.auto-config yes
+
+  # 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
 }
 
@@ -114,6 +166,9 @@ function launch {
   # 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:
   #
@@ -144,6 +199,7 @@ 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"
@@ -153,23 +209,23 @@ function launch {
     fi
   fi
 
-  # comma two init
+  # 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
 
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
   # 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 "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="15-1"
+  export REQUIRED_NEOS_VERSION="17"
+fi
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="0.18"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/acura_rdx_2020_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/can/SConscript

@@ -18,5 +18,8 @@ libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "commo
 # Build packer and parser
 lenv = envCython.Clone()
 lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
-lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
-lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
+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

@@ -112,7 +112,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     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
@@ -125,7 +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];
@@ -151,6 +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;

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/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) {

opendbc/can/packer.cc

@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
           ((x & 0x00000000000000ffull) << 56);
 }
 
-uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
   int shift = sig.is_little_endian? sig.b1 : sig.bo;
   uint64_t mask = ((1ULL << sig.b2)-1) << shift;
   uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       WARN("undefined signal %s - %d\n", name.c_str(), address);
       continue;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
     if (ival < 0) {
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       WARN("COUNTER not defined\n");
       return ret;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
       WARN("COUNTER signal type not valid\n");
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
   if (sig_it_checksum != signal_lookup.end()) {
-    auto sig = sig_it_checksum->second;
+    const auto& sig = sig_it_checksum->second;
     if (sig.type == SignalType::HONDA_CHECKSUM) {
       unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
@@ -112,3 +112,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   return ret;
 }
+
+Msg* CANPacker::lookup_message(uint32_t address) {
+  return &message_lookup[address];
+}

opendbc/can/parser.cc

@@ -13,7 +13,6 @@
 // #define DEBUG printf
 #define INFO printf
 
-
 bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
   uint64_t dat_le = read_u64_le(dat);
   uint64_t dat_be = read_u64_be(dat);
@@ -34,47 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
 
     DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
 
-    if (sig.type == SignalType::HONDA_CHECKSUM) {
-      if (honda_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
+    if (!ignore_checksum) {
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (honda_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+        if (toyota_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+        if (volkswagen_crc(address, dat_le, size) != tmp) {
+          INFO("0x%X CRC FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+        if (subaru_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+        if (chrysler_checksum(address, dat_le, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
+        if (pedal_checksum(dat_be, size) != tmp) {
+          INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
+          return false;
+        }
       }
-    } else if (sig.type == SignalType::HONDA_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
-      if (toyota_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
-      if (volkswagen_crc(address, dat_le, size) != tmp) {
-        INFO("0x%X CRC FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+    }
+    if (!ignore_counter) {
+      if (sig.type == SignalType::HONDA_COUNTER) {
         if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
-      if (subaru_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
-      if (chrysler_checksum(address, dat_le, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
-      if (pedal_checksum(dat_be, size) != tmp) {
-        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+          if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
       }
     }
 
@@ -108,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
 CANParser::CANParser(int abus, const std::string& dbc_name,
           const std::vector<MessageParseOptions> &options,
           const std::vector<SignalParseOptions> &sigoptions)
-  : bus(abus) {
+  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
 
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
   init_crc_lookup_tables();
 
   for (const auto& op : options) {
-    MessageState state = {
-      .address = op.address,
-      // .check_frequency = op.check_frequency,
-    };
+    MessageState &state = message_states[op.address];
+    state.address = op.address;
+    // state.check_frequency = op.check_frequency,
 
     // msg is not valid if a message isn't received for 10 consecutive steps
     if (op.check_frequency > 0) {
       state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
     }
 
-
     const Msg* msg = NULL;
-    for (int i=0; i<dbc->num_msgs; i++) {
+    for (int i = 0; i < dbc->num_msgs; i++) {
       if (dbc->msgs[i].address == op.address) {
         msg = &dbc->msgs[i];
         break;
@@ -141,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     state.size = msg->size;
 
     // track checksums and counters for this message
-    for (int i=0; i<msg->num_sigs; i++) {
+    for (int i = 0; i < msg->num_sigs; i++) {
       const Signal *sig = &msg->sigs[i];
       if (sig->type != SignalType::DEFAULT) {
         state.parse_sigs.push_back(*sig);
@@ -153,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     for (const auto& sigop : sigoptions) {
       if (sigop.address != op.address) continue;
 
-      for (int i=0; i<msg->num_sigs; i++) {
+      for (int i = 0; i < msg->num_sigs; i++) {
         const Signal *sig = &msg->sigs[i];
         if (strcmp(sig->name, sigop.name) == 0
             && sig->type == SignalType::DEFAULT) {
@@ -162,59 +164,48 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
           break;
         }
       }
+    }
+  }
+}
 
+CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
+  : bus(abus) {
+  // Add all messages and signals
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
+
+  for (int i = 0; i < dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    MessageState state = {
+      .address = msg->address,
+      .size = msg->size,
+      .ignore_checksum = ignore_checksum,
+      .ignore_counter = ignore_counter,
+    };
+
+    for (int j = 0; j < msg->num_sigs; j++) {
+      const Signal *sig = &msg->sigs[j];
+      state.parse_sigs.push_back(*sig);
+      state.vals.push_back(0);
     }
 
     message_states[state.address] = state;
   }
 }
 
-void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
-    int msg_count = cans.size();
-
-    DEBUG("got %d messages\n", msg_count);
-
-    // parse the messages
-    for (int i = 0; i < msg_count; i++) {
-      auto cmsg = cans[i];
-      if (cmsg.getSrc() != bus) {
-        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
-        continue;
-      }
-      auto state_it = message_states.find(cmsg.getAddress());
-      if (state_it == message_states.end()) {
-        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
-        continue;
-      }
-
-      if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
-      uint8_t dat[8] = {0};
-      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
-
-      state_it->second.parse(sec, cmsg.getBusTime(), dat);
-    }
-}
-
-void CANParser::UpdateValid(uint64_t sec) {
-  can_valid = true;
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
-    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
-      if (state.seen > 0) {
-        DEBUG("0x%X TIMEOUT\n", state.address);
-      }
-      can_valid = false;
-    }
+#ifndef DYNAMIC_CAPNP
+void CANParser::update_string(const std::string &data, bool sendcan) {
+  // format for board, make copy due to alignment issues.
+  const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
+  if (aligned_buf.size() < buf_size) {
+    aligned_buf = kj::heapArray<capnp::word>(buf_size);
   }
-}
-
-void CANParser::update_string(std::string data, bool sendcan) {
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), data.data(), data.length());
+  memcpy(aligned_buf.begin(), data.data(), data.length());
 
   // extract the messages
-  capnp::FlatArrayMessageReader cmsg(amsg);
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
   cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
   last_sec = event.getLogMonoTime();
@@ -225,6 +216,69 @@ void CANParser::update_string(std::string data, bool sendcan) {
   UpdateValid(last_sec);
 }
 
+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+  int msg_count = cans.size();
+
+  DEBUG("got %d messages\n", msg_count);
+
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = cans[i];
+    // parse the messages
+    if (cmsg.getSrc() != bus) {
+      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+      continue;
+    }
+    auto state_it = message_states.find(cmsg.getAddress());
+    if (state_it == message_states.end()) {
+      // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+      continue;
+    }
+
+    if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
+    uint8_t dat[8] = {0};
+    memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+  }
+}
+#endif
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+  // assume message struct is `cereal::CanData` and parse
+  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
+
+  if (cmsg.get("src").as<uint8_t>() != bus) {
+    DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
+  if (state_it == message_states.end()) {
+    DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto dat = cmsg.get("dat").as<capnp::Data>();
+  if (dat.size() > 8) return; //shouldn't ever happen
+  uint8_t data[8] = {0};
+  memcpy(data, dat.begin(), dat.size());
+  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
+}
+
+void CANParser::UpdateValid(uint64_t sec) {
+  can_valid = true;
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+      if (state.seen > 0) {
+        DEBUG("0x%X TIMEOUT\n", state.address);
+      } else {
+        DEBUG("0x%X MISSING\n", state.address);
+      }
+      can_valid = false;
+    }
+  }
+}
 
 std::vector<SignalValue> CANParser::query_latest() {
   std::vector<SignalValue> ret;

opendbc/can/parser_pyx.pyx

@@ -33,14 +33,14 @@ cdef class CANParser:
     bool can_valid
     int can_invalid_cnt
 
-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
     if checks is None:
       checks = []
     self.can_valid = True
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
     self.vl = {}
     self.ts = {}
 
@@ -74,6 +74,14 @@ cdef class CANParser:
         c = (self.msg_name_to_address[name], c[1])
         checks[i] = c
 
+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
     cdef vector[SignalParseOptions] signal_options_v
     cdef SignalParseOptions spo
     for sig_name, sig_address, sig_default in signals:
@@ -108,7 +116,6 @@ cdef class CANParser:
         self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
-
     for cv in can_values:
       # Cast char * directly to unicode
       name = <unicode>self.address_to_msg_name[cv.address].c_str()
@@ -149,8 +156,8 @@ cdef class CANDefine():
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
+
     num_vals = self.dbc[0].num_vals
 
     address_to_msg_name = {}

opendbc/can/process_dbc.py

@@ -106,8 +106,12 @@ def process(in_fn, out_fn):
 
   parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
 
-  with open(out_fn, "w") as out_f:
-    out_f.write(parser_code)
+  with open(out_fn, "a+") as out_f:
+    out_f.seek(0)
+    if out_f.read() != parser_code:
+      out_f.seek(0)
+      out_f.truncate()
+      out_f.write(parser_code)
 
 def main():
   if len(sys.argv) != 3:

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
 
 BO_ 639 NEW_MSG_27f: 8 XXX
  SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
@@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
 CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
 CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
 CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
+CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
 CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
+VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
 VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/gm_global_a_powertrain.dbc

@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
  SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO

opendbc/honda_accord_2018_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
@@ -379,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_accord_lx15t_2018_can.dbc starts here";
+CM_ "honda_accord_2018_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -388,8 +389,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
  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_ 401 GEARBOX: 8 PCM
+
+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_ 401 GEARBOX_15T: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
  SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@@ -429,6 +436,7 @@ BO_ 1302 ODOMETER: 8 XXX
  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_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -1,437 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _bosch_2018.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_ 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_ 330 STEERING_SENSORS: 8 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_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|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_ "honda_accord_s2t_2018_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/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -346,6 +346,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
  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
@@ -389,6 +390,7 @@ 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_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 

opendbc/hyundai_kia_generic.dbc

@@ -996,7 +996,7 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
  SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
  SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
- SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU
 
 BO_ 1338 TMU_GW_E_01: 8 CLU
  SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
@@ -1470,19 +1470,24 @@ BO_ 1186 FRT_RADAR11: 2 FCA
  SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
 
 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
- SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
- SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
 
 BO_ 1157 LFAHDA_MFC: 4 XXX
  SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
- SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
- SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
- SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
@@ -1565,7 +1570,7 @@ BO_ 352 AHB1: 8 iBAU
  SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
 
-BO_ 1191 4a7MFC: 8 XXX
+BO_ 1191 MFC_4a7: 8 XXX
  SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1162 BCA11: 8 BCW
@@ -1575,9 +1580,11 @@ BO_ 1162 BCA11: 8 BCW
  SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
  SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
 
-BO_ 1136 P_STS: 6 CGW
+BO_ 1136 P_STS: 8 CGW
  SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
  SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
+ SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
+ SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS
 
 BO_ 304 YRS11: 8 ACU
  SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
@@ -1601,14 +1608,14 @@ BO_ 320 YRS12: 8 ACU
 BO_ 1173 YRS13: 8 ACU
  SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
 
-BO_ 870 366_EMS: 8 EMS
- SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
- SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
+BO_ 870 EMS_366: 8 EMS
+ SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
+ SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
  SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
  SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 854 356: 8 XXX
+BO_ 854 M_356: 8 XXX
  SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
  SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
@@ -1633,3 +1640,7 @@ BO_ 1042 ICM_412h: 8 ICM
  SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
 
 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
+VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
+VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
+VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
+VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";

opendbc/lexus_ct200h_2018_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_is_2018_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_nx300_2018_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_nx300h_2018_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_rx_350_2016_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/mazda_2017.dbc

@@ -168,17 +168,16 @@ BO_ 581 CAM_IDK3: 8 XXX
  SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
- SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
  SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
  SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1157 CAM_SETTINGS: 8 XXX
- SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
  SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
  SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
  SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
@@ -186,8 +185,10 @@ BO_ 1157 CAM_SETTINGS: 8 XXX
  SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
  SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
  SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1160 CAM_Empty3: 8 XXX
  SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
 CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
 CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
 CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
+CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -773,4 +775,4 @@ CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
 CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
 CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
-VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;

opendbc/subaru_forester_2017_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
  SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
  SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
  SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

opendbc/subaru_global_2017_generated.dbc

@@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
 BO_ 64 Throttle: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
  SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
  SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
  SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 316 Brake_Status: 8 XXX

opendbc/subaru_outback_2015_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
  SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
  SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
  SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
  SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
 
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
 
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";

opendbc/subaru_outback_2019_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
  SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
  SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
  SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
  SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
 
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
 
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";

opendbc/toyota_avalon_2017_pt_generated.dbc

@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";