Update carstate.py

AHHHHHHH

.github/workflows/compile_frogpilot.yaml

@@ -0,0 +1,264 @@
+name: Compile FrogPilot
+
+on:
+  workflow_dispatch:
+    inputs:
+      not_vetted:
+        description: "This branch is not vetted"
+        required: false
+        default: "false"
+        type: boolean
+      publish_frogpilot:
+        description: "Push to FrogPilot"
+        required: false
+        default: "false"
+        type: boolean
+      publish_staging:
+        description: "Push to FrogPilot-Staging"
+        required: false
+        default: "false"
+        type: boolean
+      publish_testing:
+        description: "Push to FrogPilot-Testing"
+        required: false
+        default: "false"
+        type: boolean
+      publish_custom_branch:
+        description: "Push to custom branch:"
+        required: false
+        default: ""
+        type: string
+      update_translations:
+        description: "Update missing translations"
+        required: false
+        default: "false"
+        type: boolean
+      vet_existing_translations:
+        description: "Vet existing translations"
+        required: false
+        default: "false"
+        type: boolean
+
+env:
+  BASEDIR: "${{ github.workspace }}"
+  BUILD_DIR: /data/openpilot
+  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
+
+jobs:
+  get_branch:
+    runs-on: [self-hosted, c3x]
+    outputs:
+      branch: ${{ steps.get_branch.outputs.branch }}
+      python_version: ${{ steps.get_python_version.outputs.python_version }}
+    steps:
+      - name: Determine Current Branch on Runner
+        id: get_branch
+        run: |
+          cd $BUILD_DIR
+
+          BRANCH=$(git rev-parse --abbrev-ref HEAD)
+          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
+
+      - name: Get Python Version from Runner
+        id: get_python_version
+        run: |
+          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
+          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
+
+  translate:
+    if: inputs.update_translations
+    needs: get_branch
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Checkout Required Files
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.get_branch.outputs.branch }}
+          sparse-checkout: |
+            frogpilot/ui/
+            selfdrive/controls/lib/alerts_offroad.json
+            selfdrive/ui/
+            selfdrive/ui/update_translations.py
+            selfdrive/ui/translations/
+            selfdrive/ui/translations/auto_translate.py
+
+      - name: Set Up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "${{ needs.get_branch.outputs.python_version }}"
+
+      - name: Install Dependencies
+        run: pip install requests
+
+      - name: Install Qt5 Tools
+        run: sudo apt update && sudo apt install -y qttools5-dev-tools
+
+      - name: Update Translations
+        run: python selfdrive/ui/update_translations.py --vanish
+
+      - name: Translate Missing or Outdated Translations
+        run: python selfdrive/ui/translations/auto_translate.py --all-files $([[ "${{ github.event.inputs.vet_existing_translations }}" == "true" ]] && echo "--vet-translations")
+
+      - name: Commit and Push Translation Updates
+        run: |
+          if git diff --quiet selfdrive/ui/translations/*.ts; then
+            echo "No translation updates detected."
+            exit 0
+          fi
+
+          git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
+          git checkout ${{ needs.get_branch.outputs.branch }}
+          git add selfdrive/ui/translations/*.ts
+          git commit --amend --no-edit
+          git push --force origin ${{ needs.get_branch.outputs.branch }}
+
+  build_and_push:
+    needs:
+      - get_branch
+      - translate
+    if: always()
+    runs-on: [self-hosted, c3x]
+    permissions:
+      contents: write
+    defaults:
+      run:
+        working-directory: ${{ env.BUILD_DIR }}
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global http.postBuffer 104857600
+
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Update Repository
+        run: |
+          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
+
+          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
+            git fetch origin ${{ needs.get_branch.outputs.branch }}
+            git reset --hard origin/${{ needs.get_branch.outputs.branch }}
+            git pull origin ${{ needs.get_branch.outputs.branch }}
+          fi
+
+      - name: Take Ownership of Build
+        run: |
+          sudo chown -R $(whoami):$(whoami) .
+
+      - name: Finalize Build
+        run: |
+          rm -f .clang-tidy
+          rm -f .dockerignore
+          rm -f .editorconfig
+          rm -f .gitattributes
+          rm -f .gitmodules
+          rm -f .lfsconfig
+          rm -f .overlay_init
+          rm -f .pre-commit-config.yaml
+          rm -f .sconsign.dblite
+          rm -f codecov.yml
+          rm -f conftest.py
+          rm -f poetry.lock
+          rm -f pyproject.toml
+          rm -f teleoprtc
+          rm -f Dockerfile.openpilot
+          rm -f Dockerfile.openpilot_base
+          rm -f Jenkinsfile
+
+          rm -f panda/board/obj/.placeholder
+          rm -f panda/board/obj/bootstub.panda.elf
+          rm -f panda/board/obj/bootstub.panda_h7.elf
+          rm -f panda/board/obj/panda.bin
+          rm -f panda/board/obj/panda.elf
+          rm -f panda/board/obj/panda_h7.bin
+          rm -f panda/board/obj/panda_h7.elf
+          rm -f panda/board/obj/version
+
+          find . -name '*.a' -delete
+          find . -name '*.cc' -delete
+          find . -name '*.o' -delete
+          find . -name '*.onnx' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+
+          find . -name '*.h' | while read -r header; do
+            if [[ "$header" != *"common/version.h" && "$header" != *"system/camerad/sensors/"* ]]; then
+              rm -f "$header"
+            fi
+          done
+
+          rm -rf .devcontainer/
+          rm -rf .vscode/
+          rm -rf body/
+          rm -rf opendbc/generator/
+          rm -rf release/
+          rm -rf scripts/
+          rm -rf site_scons/
+          rm -rf teleoprtc_repo/
+
+          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
+
+          find .github/workflows -mindepth 1 ! \( \
+            -type f \( \
+              -name 'compile_frogpilot.yaml' -o \
+              -name 'review_pull_request.yaml' -o \
+              -name 'schedule_update.yaml' -o \
+              -name 'update_pr_branch.yaml' -o \
+              -name 'update_release_branch.yaml' \
+            \) \
+          \) -exec rm -rf {} +
+
+          find panda/board/jungle -type f ! -name '__init__.py' -delete
+          find panda/board/jungle -type d -empty -delete
+
+          find third_party/ -name '*x86*' -exec rm -rf {} +
+          find third_party/ -name '*Darwin*' -exec rm -rf {} +
+
+          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
+
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+
+          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
+          find . -type d -empty ! -path "./.git*" -delete
+          find . -type d -name '__pycache__' -exec rm -rf {} +
+          find . -type f -regex '.*matlab.*\.md' -delete
+
+          touch prebuilt
+
+          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
+            touch not_vetted
+          fi
+
+      - name: Add the update_date file
+        if: github.event.inputs.publish_staging == 'true'
+        run: |
+          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
+
+      - name: Commit Build
+        run: |
+          git add -f .
+          git commit -m "Compile FrogPilot"
+          git push --force origin HEAD
+
+          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot"
+          fi
+
+          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Staging"
+          fi
+
+          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Testing"
+          fi
+
+          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
+            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
+          fi

.github/workflows/review_pull_request.yaml

@@ -0,0 +1,34 @@
+name: Review Pull Request
+
+on:
+  pull_request_target:
+    types: [opened, reopened]
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+jobs:
+  pr_check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Exit If PR Opened by FrogAi
+        if: ${{ github.actor == 'FrogAi' }}
+        run: |
+          echo PR opened or reopened by FrogAi. No action needed.
+          exit 0
+
+      - name: Close PR for Invalid Target Branch
+        if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
+
+          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
+            -X PATCH \
+            -f state="closed"
+
+      - name: Acknowledge PR for Valid Target Branch
+        if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"

.github/workflows/schedule_update.yaml

@@ -0,0 +1,57 @@
+name: Schedule FrogPilot Update
+
+on:
+  workflow_dispatch:
+    inputs:
+      scheduled_date:
+        description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
+        required: true
+
+env:
+  BRANCH: FrogPilot-Staging
+
+jobs:
+  schedule-update:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ env.BRANCH }}
+          fetch-depth: 3
+
+      - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
+        run: |
+          echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
+          git add .github/update_date
+
+      - name: Get Target Commit (Second Most Recent)
+        id: get_target
+        run: |
+          TARGET_COMMIT=$(git rev-parse HEAD~1)
+
+          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
+          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
+
+          echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
+          echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
+          echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
+
+      - name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
+        run: git commit --fixup="${{ env.TARGET_COMMIT }}"
+
+      - name: Autosquash Fixup into Target Commit
+        run: |
+          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
+
+      - name: Restore Timestamps on Final Two Commits
+        run: |
+          git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
+
+      - name: Push Updated ${{ env.BRANCH }} Branch
+        run: git push origin "${{ env.BRANCH }}" --force-with-lease

.github/workflows/update_pr_branch.yaml

@@ -0,0 +1,99 @@
+name: Update MAKE-PRS-HERE
+
+on:
+  push:
+    branches:
+      - FrogPilot-Staging
+
+env:
+  SOURCE_BRANCH: FrogPilot-Staging
+  TARGET_BRANCH: MAKE-PRS-HERE
+
+jobs:
+  update_branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Checkout ${{ env.SOURCE_BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          ref: "${{ env.SOURCE_BRANCH }}"
+          fetch-depth: 0
+
+      - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
+        id: find_parent
+        run: |
+          COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
+          if [ -z "$COMMIT" ]; then
+            echo "Commit with message 'Compile FrogPilot' not found." >&2
+            exit 1
+          fi
+
+          PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
+          if [ -z "$PARENT" ]; then
+            echo "Parent commit not found." >&2
+            exit 1
+          fi
+
+          echo "Compile commit: $COMMIT"
+          echo "Parent commit: $PARENT"
+          echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
+          echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout ${{ env.TARGET_BRANCH }}
+        run: |
+          git fetch origin "${{ env.TARGET_BRANCH }}"
+          git checkout "${{ env.TARGET_BRANCH }}"
+
+      - name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
+        run: |
+          git rm -r --ignore-unmatch .
+          git clean -fdx
+
+          PARENT_COMMIT="${{ steps.find_parent.outputs.parent_commit }}"
+          git checkout "$PARENT_COMMIT" -- .
+
+          COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
+          SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
+
+          if [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ]; then
+            echo "Applying changes from '${{ env.SOURCE_BRANCH }}' branch..."
+            git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
+          fi
+
+          rm -f .github/update_date
+
+          git add --all
+
+      - name: Commit and Push to ${{ env.TARGET_BRANCH }}
+        run: |
+          TZ_VALUE="America/Phoenix"
+          current_day=$(TZ="$TZ_VALUE" date +"%-d")
+          month=$(TZ="$TZ_VALUE" date +"%B")
+          year=$(TZ="$TZ_VALUE" date +"%Y")
+
+          if [[ "$current_day" =~ ^1[123]$ ]]; then
+            suffix="th"
+          else
+            case $(($current_day % 10)) in
+              1) suffix="st" ;;
+              2) suffix="nd" ;;
+              3) suffix="rd" ;;
+              *) suffix="th" ;;
+            esac
+          fi
+
+          commit_message="${month} ${current_day}${suffix}, ${year} Update"
+          echo "Commit message: $commit_message"
+
+          if git log --oneline --format="%s" | grep -q "$commit_message"; then
+            echo "Existing commit found with message: $commit_message"
+            git commit --amend --no-edit
+          else
+            git commit -m "$commit_message"
+          fi
+          git push origin "${{ env.TARGET_BRANCH }}" --force

.github/workflows/update_release_branch.yaml

@@ -0,0 +1,132 @@
+name: Update FrogPilot Branch
+
+on:
+  schedule:
+    - cron: "0 18 * * *"
+
+env:
+  BRANCH_FROGPILOT: FrogPilot
+  BRANCH_PREVIOUS: FrogPilot-Previous
+  BRANCH_STAGING: FrogPilot-Staging
+
+  TZ: America/Phoenix
+
+  UPDATE_FILE: .github/update_date
+
+jobs:
+  check_update:
+    runs-on: ubuntu-latest
+    outputs:
+      update_due: ${{ steps.check_update.outputs.update_due }}
+      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
+    steps:
+      - name: Download the 'update_date' File
+        id: download_update
+        run: |
+          curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
+
+      - name: Check If Update Is Due
+        id: check_update
+        run: |
+          if [ -f update_date_missing ]; then
+            echo "No update_date file found in FrogPilot-Staging."
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          SCHEDULED_DATE=$(cat update_date)
+          CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
+          echo "Scheduled Date: $SCHEDULED_DATE"
+          echo "Current Date: $CURRENT_DATE"
+
+          if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
+            echo "Update not due."
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          echo "update_due=true" >> "$GITHUB_OUTPUT"
+          echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
+
+  update_branch:
+    needs: check_update
+    if: ${{ needs.check_update.outputs.update_due == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH_STAGING }}
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ env.BRANCH_STAGING }}
+
+      - name: Update README Date and Remove (${{ env.UPDATE_FILE }})
+        run: |
+          DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
+          case "$DAY" in
+            1|21|31) SUFFIX="st" ;;
+            2|22) SUFFIX="nd" ;;
+            3|23) SUFFIX="rd" ;;
+            *) SUFFIX="th" ;;
+          esac
+          MONTH=$(TZ="${{ env.TZ }}" date +'%B')
+          YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
+          NEW_DATE="**${MONTH} ${DAY}${SUFFIX}, ${YEAR}**"
+
+          echo "Updating README date to ${NEW_DATE}"
+          sed -i "/FrogPilot was last updated on:/ { N; N; s/\(\n\)\n.*$/\1\n${NEW_DATE}/; }" README.md
+
+          git add README.md
+          git rm -f "${{ env.UPDATE_FILE }}"
+          git commit -m "Updated README date to ${NEW_DATE}"
+
+      - name: Squash Commits
+        run: |
+          COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
+
+          git reset --soft HEAD~2
+          git commit -m "$COMMIT_MSG"
+
+      - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
+        run: |
+          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
+          COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
+
+          git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
+
+      - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
+
+      - name: Wait Until Noon ${{ env.TZ }} Before Continuing
+        run: |
+          NOW=$(TZ="${{ env.TZ }}" date +%s)
+          TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
+
+          if [ "$NOW" -lt "$TARGET" ]; then
+            SLEEP_TIME=$((TARGET - NOW))
+            echo "Sleeping for $SLEEP_TIME seconds until noon..."
+            sleep $SLEEP_TIME
+          else
+            echo "It is already noon or past noon, proceeding immediately."
+          fi
+
+      - name: Push ${{ env.BRANCH_STAGING }}
+        run: |
+          git push origin "${{ env.BRANCH_STAGING }}" --force
+
+      - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git switch "${{ env.BRANCH_PREVIOUS }}"
+          git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
+          git push origin "${{ env.BRANCH_PREVIOUS }}" --force
+
+      - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
+        run: |
+          git switch "${{ env.BRANCH_FROGPILOT }}"
+          git reset --hard "origin/${{ env.BRANCH_STAGING }}"
+          git push origin "${{ env.BRANCH_FROGPILOT }}" --force

.gitignore

@@ -1,4 +1,7 @@
 venv/
+.venv/
+.ci_cache
+.env
 .clang-format
 .DS_Store
 .tags
@@ -7,7 +10,6 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis
@@ -31,36 +33,31 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html
 
 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
-selfdrive/ui/_ui
+system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 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/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
-one
-openpilot
 notebooks
-xx
-yy
 hyperthneed
-panda_jungle
 provisioning
 
 .coverage*
@@ -75,10 +72,14 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/thneed/compile
-models/*.thneed
+selfdrive/modeld/models/*.thneed
+selfdrive/modeld/models/*.pkl
 
 *.bz2
 
 build/
 
 !**/.gitkeep
+
+poetry.toml
+Pipfile

.python-version

@@ -0,0 +1 @@
+3.11.4

Jenkinsfile

@@ -1,243 +0,0 @@
-def phone(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
-
-set -e
-
-export CI=1
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_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
-
-cd ${env.TEST_DIR} || true
-${cmd}
-exit 0
-
-END"""
-
-    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, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
-      }
-    }
-  }
-}
-
-pipeline {
-  agent none
-  environment {
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-  }
-  options {
-      timeout(time: 4, unit: 'HOURS')
-  }
-
-  stages {
-    stage('build releases') {
-      when {
-        branch 'devel-staging'
-      }
-
-      parallel {
-        stage('release2') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("eon-build", [
-              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
-
-        stage('release3') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici", [
-              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
-      }
-    }
-
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
-        }
-      }
-
-      stages {
-        stage('On-device Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          stages {
-            stage('parallel tests') {
-              parallel {
-                stage('C2: build') {
-                  steps {
-                    phone_steps("eon-build", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: replay') {
-                  steps {
-                    phone_steps("eon2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: HW + Unit Tests') {
-                  steps {
-                    phone_steps("eon", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
-                    ])
-                  }
-                }
-
-                /*
-                stage('Power Consumption Tests') {
-                  steps {
-                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-                      timeout(time: 90, unit: 'MINUTES') {
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "scons -j4 && sync")
-                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
-                      }
-                    }
-                  }
-                }
-                */
-
-                stage('C3: build') {
-                  environment {
-                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-                  }
-                  steps {
-                    phone_steps("tici", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: HW + Unit Tests') {
-                  steps {
-                    phone_steps("tici2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: camerad') {
-                  steps {
-                    phone_steps("eon-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: camerad') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: replay') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-              }
-            }
-
-            stage('Push master-ci') {
-              when {
-                branch 'master'
-              }
-              steps {
-                phone_steps("eon-build", [
-                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
-                ])
-              }
-            }
-
-          }
-
-          post {
-            always {
-              cleanWs()
-            }
-          }
-
-        }
-
-      }
-    }
-  }
-}
-

README.md

@@ -1,124 +1,213 @@
-![](https://i.imgur.com/b0ZyIx5.jpg)
-
-Table of Contents
-=======================
-
-* [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-in-a-car)
-* [Running on PC](#running-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
-
----
+[![openpilot on the comma 3X](https://i.imgur.com/Zwv9SaN.png)](https://comma.ai/shop/comma-3x)
 
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
-    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
-    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
-    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
-    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
-    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
   </tr>
 </table>
 
-
-Running in a car
+What is FrogPilot? 🐸
 ------
 
-To use openpilot in a car, you need four things
-* This software. It's free and available right here.
-* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise commits striving to be a resource for the openpilot developer community. It thrives on contributions from both users and developers, focusing on a collaborative, community-led approach to deliver an advanced openpilot experience for everyone!
 
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+------
+FrogPilot was last updated on:
 
-Running on PC
+**April 12th, 2025**
+
+Features
 ------
 
-All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
+FrogPilot offers a wide range of customizable features that are easily toggled on or off to suit your preferences. Whether you want a completely stock openpilot experience, or want to add some fun and personal touches, FrogPilot has you covered! Some of the features include:
 
-With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+------
+⚡ **Advanced Customizations:**
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+  - "Alert Volume Controller" to set the volume level for each of of openpilot's sounds
+  - Customize the following distance and jerk values for each personality profile
+  - Fine tune your car's "Steer Ratio" to perfect your lateral control
+  - Increase the distance when stopped behind lead vehicles
+  - Increase the max set speed by a custom interval (i.e. 2, 3, 4, 5, 6, etc. instead of just 1)
+  - Select between past, present, and future openpilot driving models
+------
+🎨 **Custom Themes:**
 
+  - 🐸 Frog theme (with a bonus 🐐 sound effect)
+  - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="15" height="12"> Russia / Joseph Stalin theme
+  - 🔌 Tesla theme
+  - Holiday themes! Minor holidays last a day, while major holidays (Easter, Halloween, Thanksgiving, Christmas) last a week
+  - Random events triggered by specific actions while driving with openpilot
 
-Community and Contributing
+  - 📢 Want to add a theme? Request one in the "feature-request" channel in the FrogPilot Discord!
+------
+🚀 **Conditional Experimental Mode:**
+
+  - Auto-activates "Experimental Mode" under several conditions, including:
+    - Approaching intersections and turns while using navigation
+    - Approaching slower vehicles to take advantage of "Experimental Mode"'s smoother braking
+    - Curve and stop light/stop sign detection
+    - Driving below a set speed
+    - Turn signal activation below 55mph for turn assistance
+------
+📊 **Developer UI:**
+
+  - Display various driving logics such as the distance, speed, and the desired following distance to your lead vehicle
+  - Lane measuring of the adjacent lanes for lane detection
+  - Tap the "VEHICLE ONLINE"/"CPU"/"GPU" gauge to toggle between CPU and GPU monitoring
+  - Tap the "CONNECT ONLINE"/"MEMORY"/"LEFT"/"USED" gauge to toggle between RAM and storage monitoring
+------
+🛠 **Device Management:**
+
+  - Adjustable screen brightness for both onroad and offroad states
+  - Adjustable screen timeout times for both onroad and offroad states
+  - Backup and restore previous versions of FrogPilot
+  - Backup and restore previous versions of toggle configurations
+  - Battery level threshold to automatically shut the device down after you car's battery falls below a set voltage limit when offroad
+  - Delete stored driving data for increased privacy/space via the "Device" panel
+  - Device can operate offline indefinitely
+  - Disable logging and/or uploading
+  - Disable uploads while onroad to help reduce data usage
+  - Flash the Panda within the "Device" menu
+  - "Standby Mode" that wakes the screen up between engagement states or when important alerts are triggered
+  - Timer to automatically shut down after going offroad
+------
+🚖 **Lateral Adjustments:**
+
+  - Activate lateral control by simply pressing the "Cruise Control" button
+  - Force comma's auto tuning for unsupported vehicles
+  - Lateral control won't disengage on gas or brake
+  - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad
+  - Pause lateral control when below a set speed
+  - Pause lateral control when pressing the brake
+  - Pause lateral control when turn signals are active
+  - Precise turns by using turn desires when below the minimum lane change speed
+  - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for smoother steering control
+------
+🚘 **Longitudinal Adjustments:**
+
+  - Aggressive acceleration when following a lead vehicle from a stop
+  - "Map Turn Speed Controller" to slow down for curves based on stored map data
+    - With an additional toggle to fine tune the speed aggressiveness
+  - Smoother braking behind slower leads
+  - "Speed Limit Controller" to adjust your speed to the posted speed limit
+    - With additional toggles to set offsets for "0-34 mph", "35-54 mph", "55-64 mph", and "65-99 mph"
+  - "Sport" and "Eco" acceleration and deceleration profiles
+  - "Traffic Mode" tailored towards driving in traffic
+  - Tweak the lead detection threshold to detect leads sooner for smoother braking on stopped/slower vehicles
+  - "Vision Turn Speed Controller" for smoother handling of curves
+    - With additional toggles to fine tune the speed aggressiveness and curve detection sensitivity
+------
+🗺️ **Navigation:**
+
+  - 3D buildings
+  - Custom map styles
+  - Full screen map that takes up the entire screen for a more expansive map view
+  - iOS shortcuts to quickly set navigation destinations
+  - Navigate on openpilot without a comma prime subscription
+  - Offline maps
+  - "Open Street Maps" integration for speed limit control and road name view
+------
+🎮 **Onroad UI:**
+
+  - Compass that rotates according to the direction you're driving
+  - FPS counter in the screen's border
+  - Hide various UI elements on the screen for a cleaner UI
+  - Pedals on the onroad UI indicate when the gas/brake pedals are being used
+  - Road UI Customizations:
+    - Acceleration path to show the model's desired acceleration/deceleration
+    - Blind spot path when a vehicle is detected in your blind spot
+    - Increase/decrease the lane line, path, and road edge widths
+    - Path edge colors based on specific driving statuses:
+      - 🔵 Blue - Navigation active
+      - 🟦 Light Blue - "Always On Lateral" active
+      - 🟢 Green - Default
+      - 🟠 Orange - "Experimental Mode" active
+      - 🔴 Red - "Traffic Mode" active
+      - 🟡 Yellow - "Conditional Experimental Mode" overridden
+    - "Unlimited" road UI that extends out as far as the model can see
+  - Sidebar retains it's previous position between reboots/ignition cycles
+  - Steering wheel icons
+    - 📢 Request your own steering wheel icon in the "feature-request" channel!
+  - Steering wheel in the onroad UI rotates alongside your physical steering wheel
+------
+🚙 **Vehicle Specific Additions:**
+
+  - Automatic/manual fingerprint selection to force a selected fingerprint
+  - Custom longitudinal tunings for GM EVs and trucks for smoother gas and brake control
+  - Custom longitudinal tunings for Toyota/Lexus for smoother gas and brake control
+  - Disable openpilot longitudinal control to use your car's stock cruise control
+  - GM Volt support
+  - Honda Clarity support
+  - Increased torque for the Subaru Crosstrek
+  - Lock doors automatically when in the drive gear for Toyota/Lexus and unlock when in park
+  - openpilot longitudinal control for GM vehicles without ACC
+  - Pedal interceptor support for GM vehicles
+  - "Stop and Go" hack for Toyota's without stop and go functionality
+  - ZSS support for the Toyota Prius and Sienna
+------
+🚦 **Quality of Life Features:**
+
+  - Automatic updates for a completely "set and forget" experience
+  - Camera view selection
+  - Custom alerts for green lights, vehicles in blindspot, lead departing, and the current speed limit changing
+  - Display the driver camera when in reverse
+  - Driving statistics to show how many hours and miles you've driven on the home screen
+  - Fleet Manager to easily access your driving data and screen recordings
+  - Numerical temperature gauge
+  - Retain tethering status between reboots
+  - Screenrecorder
+  - Toggle "Experimental Mode" via the "Lane Departure Alert" button, holding down the "Distance" button for 0.5+ seconds, or by double tapping the screen
+
+How to Install
 ------
 
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
+Easiest way to install FrogPilot is via this URL at the installation screen:
 
-Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
+```
+frogpilot.download
+```
 
-You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+DO NOT install the "FrogPilot-Development" branch. I'm constantly breaking things on there, so unless you don't want to use openpilot, NEVER install it!
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+![](https://i.imgur.com/swr0kqJ.png)
 
-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-User Data and comma Account
+Bug reports / Feature Requests
 ------
 
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+If you encounter any issues or bugs while using FrogPilot, or if you have any suggestions for new features or improvements, please don't hesitate to post about it on the Discord! I'm always looking for ways to improve the fork and provide a better experience for everyone!
 
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
+To report a bug or request a new feature, make a post in the #bug-reports or #feature-requests channel respectively on the FrogPilot Discord. Please provide as much detail as possible about the issue you're experiencing or the feature you'd like to see added. Photos, videos, log files, or other relevant information are very helpful!
 
-openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+I will do my best to respond to bug reports and feature requests in a timely manner, but please understand that I may not be able to address every request immediately. Your feedback and suggestions are valuable, and I appreciate your help in making FrogPilot the best it can be!
 
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
-----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-Directory Structure
+Discord
 ------
-    .
-    ├── cereal              # The messaging spec and libs used for all logs
-    ├── common              # Library like functionality we've developed here
-    ├── docs                # Documentation
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
-    ├── third_party         # External libraries
-    ├── pyextra             # Extra python packages
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
-        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU interface code
-        ├── test            # Unit tests, system tests, and a car simulator
-        └── ui              # The UI
+
+[Join the FrogPilot Community Discord!](https://discord.gg/frogpilot)
+
+Credits
+------
+
+* [AlexandreSato](https://github.com/AlexandreSato)
+* [Crwusiz](https://github.com/crwusiz)
+* [DragonPilot](https://github.com/dragonpilot-community)
+* [ErichMoraga](https://github.com/ErichMoraga)
+* [Garrettpall](https://github.com/garrettpall)
+* [Mike8643](https://github.com/mike8643)
+* [Neokii](https://github.com/Neokii)
+* [OPGM](https://github.com/opgm)
+* [OPKR](https://github.com/openpilotkr)
+* [Pfeiferj](https://github.com/pfeiferj)
+* [ServerDummy](https://github.com/ServerDummy)
+* [Twilsonco](https://github.com/twilsonco)
 
 Licensing
 ------
@@ -135,8 +224,5 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 
-[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,3 +1,261 @@
+Version 0.9.7 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+
+Version 0.9.6 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
+========================
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Re-tuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
 Version 0.8.12 (2021-12-15)
 ========================
  * New driving model
@@ -125,7 +383,7 @@ Version 0.8.4 (2021-05-17)
  * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
+ * Re-tuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
  * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -290,7 +548,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 
@@ -381,7 +639,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -717,7 +975,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -749,7 +1007,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -1,437 +0,0 @@
-import os
-import shutil
-import subprocess
-import sys
-import sysconfig
-import platform
-import numpy as np
-
-TICI = os.path.isfile('/TICI')
-Decider('MD5-timestamp')
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--extras',
-          action='store_true',
-          help='build misc extras, like setup and installer 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('--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')
-
-AddOption('--no-thneed',
-          action='store_true',
-          dest='no_thneed',
-          help='avoid using thneed')
-
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-
-if arch == "aarch64" and TICI:
-  arch = "larch64"
-
-USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
-}
-
-rpath = lenv["LD_LIBRARY_PATH"].copy()
-
-if arch == "aarch64" or arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
-
-  if arch == "aarch64":
-    # android
-    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
-    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
-
-  cpppath = [
-    "#third_party/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/usr/lib",
-    "/system/vendor/lib64",
-    "/system/comma/usr/lib",
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  if arch == "larch64":
-    libpath += [
-      "#third_party/snpe/larch64",
-      "#third_party/libyuv/larch64/lib",
-      "/usr/lib/aarch64-linux-gnu"
-    ]
-    cpppath += [
-      "#selfdrive/camerad/include",
-    ]
-    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath += ["/usr/local/lib"]
-  else:
-    rpath = []
-    libpath += [
-      "#third_party/snpe/aarch64",
-      "#third_party/libyuv/lib",
-      "/system/vendor/lib64"
-    ]
-    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-
-  if arch == "Darwin":
-    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
-    libpath = [
-      f"#third_party/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 = [
-      "#third_party/acados/x86_64/lib",
-      "#third_party/snpe/x86_64-linux-clang",
-      "#third_party/libyuv/x64/lib",
-      "#third_party/mapbox-gl-native-qt/x86_64",
-      "#cereal",
-      "#selfdrive/common",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#selfdrive/common").abspath
-  ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-# Enable swaglog include in submodules
-cflags += ["-DSWAGLOG"]
-cxxflags += ["-DSWAGLOG"]
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-deprecated-register",
-    "-Wno-register",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-error=unused-but-set-variable",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/bzip2",
-    "#third_party/libyuv/include",
-    "#third_party/openmax/include",
-    "#third_party/json11",
-    "#third_party/curl/include",
-    "#third_party/libgralloc/include",
-    "#third_party/android_frameworks_native/include",
-    "#third_party/android_hardware_libhardware/include",
-    "#third_party/android_system_core/include",
-    "#third_party/linux/include",
-    "#third_party/snpe/include",
-    "#third_party/mapbox-gl-native-qt/include",
-    "#third_party/qrcode",
-    "#third_party",
-    "#cereal",
-    "#opendbc/can",
-  ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#cereal",
-    "#third_party",
-    "#opendbc/can",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  tools=["default", "cython", "compilation_db"],
-)
-
-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
-
-# 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
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-SHARED = False
-
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
-# Cython build enviroment
-py_include = sysconfig.get_paths()['include']
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-Export('envCython')
-
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "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",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-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')
-
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_gpucommon', '_gpu_libs')
-
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon] + _gpu_libs
-
-Export('common', 'gpucommon')
-
-# cereal and messaging are shared with the system
-SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
-
-Export('cereal', 'messaging', '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 not in ["aarch64", "larch64"]:
-  rednose_config['to_build'].update({
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
-  })
-
-Export('rednose_config')
-SConscript(['rednose/SConscript'])
-
-# Build openpilot
-
-SConscript(['cereal/SConscript'])
-SConscript(['panda/board/SConscript'])
-SConscript(['opendbc/can/SConscript'])
-
-SConscript(['third_party/SConscript'])
-
-SConscript(['common/SConscript'])
-SConscript(['common/kalman/SConscript'])
-SConscript(['common/transformations/SConscript'])
-
-SConscript(['selfdrive/camerad/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/loggerd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
-
-if arch != "Darwin":
-  SConscript(['selfdrive/logcatd/SConscript'])
-
-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])

SECURITY.md

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

cereal/.gitignore

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

cereal/README.md

@@ -0,0 +1,60 @@
+# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+
+cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+
+Imagine this use case:
+* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
+* A calibration process subscribes to the `sensorEvents` packet to use the IMU
+* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+
+
+## Messaging Spec
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
+
+All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
+
+### Best Practices
+
+- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
+- In the context of the message they are in, field names should be completely unambiguous.
+- All values should be easy to plot and be human-readable with minimal parsing.
+
+### Maintaining backwards-compatibility
+
+When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
+be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
+things are not. Read more details [here](https://capnproto.org/language.html).
+
+### Custom forks
+
+Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
+spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
+[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
+
+## Pub Sub Backends
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+```
+
+```python
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message('sensorEvents', size=1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```

cereal/SConscript

@@ -1,72 +0,0 @@
-Import('env', 'envCython', 'arch', 'common')
-
-import shutil
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-messaging_dir = Dir('messaging')
-
-# Build cereal
-
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
-env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
-
-env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
-
-# Build messaging
-
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/msgq.cc',
-  'messaging/socketmaster.cc',
-])
-
-messaging_lib = env.Library('messaging', messaging_objects)
-Depends('messaging/impl_zmq.cc', services_h)
-
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
-Depends('messaging/bridge.cc', services_h)
-
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
-
-
-# Build Vision IPC
-vipc_sources = [
-  'visionipc/ipc.cc',
-  'visionipc/visionipc_server.cc',
-  'visionipc/visionipc_client.cc',
-  'visionipc/visionbuf.cc',
-]
-
-if arch in ["aarch64", "larch64"]:
-  vipc_sources += ['visionipc/visionbuf_ion.cc']
-else:
-  vipc_sources += ['visionipc/visionbuf_cl.cc']
-
-vipc_objects = env.SharedObject(vipc_sources)
-vipc = env.Library('visionipc', vipc_objects)
-
-
-libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
-if arch == "aarch64":
-  libs += ["adreno_utils"]
-if arch == "Darwin":
-  del libs[libs.index('OpenCL')]
-  envCython['FRAMEWORKS'] += ['OpenCL']
-envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
-
-
-if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
-  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])

cereal/__init__.py

@@ -1,4 +1,3 @@
-# pylint: skip-file
 import os
 import capnp
 
@@ -7,3 +6,4 @@ capnp.remove_import_hook()
 
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -17,11 +17,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   immediateDisable @6 :Bool;
   preEnable @7 :Bool;
   permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
 
   enum EventName @0xbaa8c5d505f727de {
     canError @0;
     steerUnavailable @1;
-    brakeUnavailable @2;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -31,23 +32,25 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     reverseGear @10;
     buttonCancel @11;
     buttonEnable @12;
-    pedalPressed @13;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
     cruiseDisabled @14;
     speedTooLow @17;
     outOfSpace @18;
     overheat @19;
     calibrationIncomplete @20;
     calibrationInvalid @21;
+    calibrationRecalibrating @117;
     controlsMismatch @22;
     pcmEnable @23;
     pcmDisable @24;
-    noTarget @25;
     radarFault @26;
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -59,17 +62,16 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     driverUnresponsive @45;
     belowSteerSpeed @46;
     lowBattery @48;
-    vehicleModelInvalid @50;
     accFaulted @51;
     sensorDataInvalid @52;
     commIssue @53;
+    commIssueAvgFreq @109;
     tooDistracted @54;
     posenetInvalid @55;
     soundsUnavailable @56;
     preLaneChangeLeft @57;
     preLaneChangeRight @58;
     laneChange @59;
-    communityFeatureDisallowed @62;
     lowMemory @63;
     stockAeb @64;
     ldw @65;
@@ -78,11 +80,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedTooHigh @70;
     laneChangeBlocked @71;
     relayMalfunction @72;
-    gasPressed @73;
     stockFcw @74;
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @121;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -94,7 +96,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     deviceFalling @90;
     fanMalfunction @91;
     cameraMalfunction @92;
-    gpsMalfunction @94;
+    cameraFrameRate @110;
     processNotRunning @95;
     dashcamMode @96;
     controlsInitializing @98;
@@ -102,13 +104,55 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     roadCameraError @100;
     driverCameraError @101;
     wideRoadCameraError @102;
-    localizerMalfunction @103;
     highCpuUsage @105;
     cruiseMismatch @106;
+    lkasDisabled @107;
+    canBusMissing @111;
+    controlsdLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+    locationdTemporaryError @103;
+    locationdPermanentError @118;
+    paramsdTemporaryError @50;
+    paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
+
+    # FrogPilot Events
+    accel30 @122;
+    accel35 @123;
+    accel40 @124;
+    blockUser @125;
+    customStartupAlert @126;
+    dejaVuCurve @127;
+    firefoxSteerSaturated @128;
+    forcingStop @129;
+    goatSteerSaturated @130;
+    greenLight @131;
+    hal9000 @132;
+    holidayActive @133;
+    laneChangeBlockedLoud @134;
+    leadDeparting @135;
+    noLaneAvailable @136;
+    openpilotCrashed @137;
+    openpilotCrashedRandomEvent @138;
+    pedalInterceptorNoBrake @139;
+    speedLimitChanged @140;
+    thisIsFineSteerSaturated @141;
+    toBeContinued @142;
+    torqueNNLoad @143;
+    trafficModeActive @144;
+    trafficModeInactive @145;
+    turningLeft @146;
+    turningRight @147;
+    vCruise69 @148;
+    yourFrogTriedToKillMe @149;
+    youveGotMail @150;
 
-    driverMonitorLowAccDEPRECATED @68;
     radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
     radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
     gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
@@ -127,6 +171,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
     startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
   }
 }
 
@@ -136,10 +184,17 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 struct CarState {
   events @13 :List(CarEvent);
 
+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+
   # car speed
-  vEgo @1 :Float32;         # best estimate of speed
-  aEgo @16 :Float32;        # best estimate of acceleration
-  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  vEgo @1 :Float32;          # best estimate of speed
+  aEgo @16 :Float32;         # best estimate of acceleration
+  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
+  vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
+
   yawRate @22 :Float32;     # best estimate of yaw rate
   standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
@@ -148,9 +203,13 @@ struct CarState {
   gas @3 :Float32;        # this is user pedal only
   gasPressed @4 :Bool;    # this is user pedal only
 
+  engineRpm @46 :Float32;
+
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
   brakeHoldActive @38 :Bool;
 
   # steering wheel
@@ -160,12 +219,13 @@ struct CarState {
   steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
   steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
-  steerWarning @35 :Bool;          # temporary steer unavailble
-  steerError @36 :Bool;            # permanent steer error
+  steerFaultTemporary @35 :Bool;   # temporary EPS fault
+  steerFaultPermanent @36 :Bool;   # permanent EPS fault
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -182,18 +242,20 @@ struct CarState {
   # lock info
   doorOpen @24 :Bool;
   seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;
 
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
   # blindspot sensors
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
+  charging @43 :Bool;
+
+  # process meta
+  cumLagMs @50 :Float32;
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -205,6 +267,7 @@ struct CarState {
   struct CruiseState {
     enabled @0 :Bool;
     speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
     available @2 :Bool;
     speedOffset @3 :Float32;
     standstill @4 :Bool;
@@ -245,8 +308,12 @@ struct CarState {
     }
   }
 
+  # deprecated
   errorsDEPRECATED @0 :List(CarEvent.EventName);
   brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
 }
 
 # ******* radar state @ 20hz *******
@@ -255,9 +322,6 @@ struct RadarData @0x888ad6581cf0aacb {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
   enum Error {
     canError @0;
     fault @1;
@@ -281,6 +345,9 @@ struct RadarData @0x888ad6581cf0aacb {
     # some radars flag measurements VS estimates
     measured @6 :Bool;
   }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
 }
 
 # ******* car controls @ 100hz *******
@@ -288,23 +355,37 @@ struct RadarData @0x888ad6581cf0aacb {
 struct CarControl {
   # must be true for any actuator commands to work
   enabled @0 :Bool;
-  active @7 :Bool;
+  latActive @11: Bool;
+  longActive @12: Bool;
 
+  # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
-  roll @8 :Float32;
-  pitch @9 :Float32;
+
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
 
   cruiseControl @4 :CruiseControl;
   hudControl @5 :HUDControl;
 
   struct Actuators {
     # range from 0.0 - 1.0
-    gasDEPRECATED @0: Float32;
-    brakeDEPRECATED @1: Float32;
+    gas @0: Float32;
+    brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
+    # value sent over can to the car
+    steerOutputCan @8: Float32;
     steeringAngleDeg @3: Float32;
 
+    curvature @7: Float32;
+
+    speed @6: Float32; # m/s
     accel @4: Float32; # m/s^2
     longControlState @5: LongControlState;
 
@@ -314,14 +395,14 @@ struct CarControl {
       stopping @2;
       starting @3;
     }
-
   }
 
   struct CruiseControl {
     cancel @0: Bool;
-    override @1: Bool;
-    speedOverride @2: Float32;
-    accelOverride @3: Float32;
+    resume @1: Bool;
+    override @4: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
   }
 
   struct HUDControl {
@@ -335,6 +416,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -362,12 +444,38 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      # FrogPilot sounds
+      angry @9;
+      continued @10;
+      dejaVu @11;
+      doc @12;
+      fart @13;
+      firefox @14;
+      goat @15;
+      hal9000 @16;
+      mail @17;
+      nessie @18;
+      noice @19;
+      startup @20;
+      thisIsFine @21;
+      uwu @22;
     }
   }
 
   gasDEPRECATED @1 :Float32;
   brakeDEPRECATED @2 :Float32;
   steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
+}
+
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
 }
 
 # ****** car param ******
@@ -377,24 +485,22 @@ struct CarParams {
   carFingerprint @1 :Text;
   fuzzyFingerprint @55 :Bool;
 
-  enableGasInterceptor @2 :Bool;
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
-  enableApgs @6 :Bool;       # advanced parking guidance system
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  maxSteeringAngleDeg @54 :Float32;
   safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
 
-  steerMaxBP @11 :List(Float32);
-  steerMaxV @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
 
   # things about the car in the manual
   mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -405,6 +511,7 @@ struct CarParams {
 
   # things we can derive
   rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
   tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
   tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
 
@@ -412,8 +519,9 @@ struct CarParams {
   lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
-    indi @27 :LateralINDITuning;
-    lqr @40 :LateralLQRTuning;
+    indiDEPRECATED @27 :LateralINDITuning;
+    lqrDEPRECATED @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
   }
 
   steerLimitAlert @28 :Bool;
@@ -421,36 +529,37 @@ struct CarParams {
 
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
-  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
-  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startingAccelRate @53 :Float32; # m/s^2/s while trying to start
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
-  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
   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;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
-    safetyParam @1 :Int16;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
   }
 
   struct LateralParams {
@@ -466,11 +575,23 @@ struct CarParams {
     kf @4 :Float32;
   }
 
+  struct LateralTorqueTuning {
+    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    friction @3 :Float32;
+    kf @4 :Float32;
+    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+  }
+
   struct LongitudinalPIDTuning {
     kpBP @0 :List(Float32);
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
+    kf @6 :Float32;
     deadzoneBP @4 :List(Float32);
     deadzoneV @5 :List(Float32);
   }
@@ -528,15 +649,23 @@ struct CarParams {
     noOutput @19;  # like silent but without silent CAN TXs
     hondaBosch @20;
     volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
+    subaruPreglobal @22;  # pre-Global platform
     hyundaiLegacy @23;
     hyundaiCommunity @24;
-    stellantis @25;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
   }
 
   enum SteerControlType {
     torque @0;
     angle @1;
+
+    curvatureDEPRECATED @2;
   }
 
   enum TransmissionType {
@@ -550,32 +679,47 @@ struct CarParams {
   struct CarFw {
     ecu @0 :Ecu;
     fwVersion @1 :Data;
-    address @2: UInt32;
-    subAddress @3: UInt8;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
   }
 
   enum Ecu {
     eps @0;
-    esp @1;
+    abs @1;
     fwdRadar @2;
     fwdCamera @3;
     engine @4;
     unknown @5;
     transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
     srs @9; # airbag
     gateway @10; # can gateway
     hud @11; # heads up display
     combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module
 
     # Toyota only
     dsu @6;
-    apgs @7;
 
     # Honda only
     vsa @13; # Vehicle Stability Assist
     programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
+
+    debug @17;
   }
 
   enum FingerprintSource {
@@ -589,10 +733,25 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
+  enableGasInterceptor @2 :Bool;
   enableCameraDEPRECATED @4 :Bool;
-  isPandaBlackDEPRECATED @39: Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
   hasStockCameraDEPRECATED @57 :Bool;
   safetyParamDEPRECATED @10 :Int16;
   safetyModelDEPRECATED @9 :SafetyModel;
   safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }

cereal/custom.capnp

@@ -0,0 +1,102 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Car = import "car.capnp";
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# you can rename the struct, but don't change the identifier
+struct FrogPilotCarParams @0x81c2f05a394cf4af {
+  fpFlags @0 :UInt32;
+  openpilotLongitudinalControlDisabled @1 :Bool;
+}
+
+struct FrogPilotCarState @0xaedffd8f31e7b55d {
+  struct ButtonEvent {
+    enum Type {
+      lkas @0;
+    }
+  }
+
+  accelPressed @0 :Bool;
+  alwaysOnLateralAllowed @1 :Bool;
+  alwaysOnLateralEnabled @2 :Bool;
+  brakeLights @3 :Bool;
+  dashboardSpeedLimit @4 :Float32;
+  decelPressed @5 :Bool;
+  distancePressed @6 :Bool;
+  distanceLongPressed @7 :Bool;
+  distanceVeryLongPressed @8 :Bool;
+  ecoGear @9 :Bool;
+  forceCoast @10 :Bool;
+  pauseLateral @11 :Bool;
+  pauseLongitudinal @12 :Bool;
+  sportGear @13 :Bool;
+  trafficMode @14 :Bool;
+}
+
+struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 {
+  freeSpace @0 :Int16;
+  usedSpace @1 :Int16;
+}
+
+struct FrogPilotNavigation @0xda96579883444c35 {
+  approachingIntersection @0 :Bool;
+  approachingTurn @1 :Bool;
+  navigationSpeedLimit @2 :Float32;
+}
+
+struct FrogPilotPlan @0x80ae746ee2596b11 {
+  accelerationJerk @0 :Float32;
+  accelerationJerkStock @1 :Float32;
+  dangerJerk @2 :Float32;
+  desiredFollowDistance @3 :Int64;
+  experimentalMode @4 :Bool;
+  forcingStop @5 :Bool;
+  forcingStopLength @6 :Float32;
+  frogpilotEvents @7 :List(Car.CarEvent);
+  lateralCheck @8 :Bool;
+  laneWidthLeft @9 :Float32;
+  laneWidthRight @10 :Float32;
+  maxAcceleration @11 :Float32;
+  minAcceleration @12 :Float32;
+  mtscSpeed @13 :Float32;
+  redLight @14 :Bool;
+  roadCurvature @15 :Float32;
+  slcMapSpeedLimit @16 :Float32;
+  slcMapboxSpeedLimit @17 :Float32;
+  slcNextSpeedLimit @18 :Float32;
+  slcOverridden @19 :Bool;
+  slcOverriddenSpeed @20 :Float32;
+  slcSpeedLimit @21 :Float32;
+  slcSpeedLimitOffset @22 :Float32;
+  slcSpeedLimitSource @23 :Text;
+  speedJerk @24 :Float32;
+  speedJerkStock @25 :Float32;
+  speedLimitChanged @26 :Bool;
+  tFollow @27 :Float32;
+  togglesUpdated @28 :Bool;
+  unconfirmedSlcSpeedLimit @29 :Float32;
+  vCruise @30 :Float32;
+  vtscControllingCurve @31 :Bool;
+  vtscSpeed @32 :Float32;
+}
+
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
+
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}

cereal/legacy.capnp

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

cereal/logger/logger.h

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

cereal/maptile.capnp

@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}

cereal/messaging/__init__.py

@@ -1,39 +1,34 @@
-# 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
+# must be built with scons
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+
 import os
 import capnp
+import time
 
-from typing import Optional, List, Union
+from typing import Optional, List, Union, Dict, Deque
 from collections import deque
 
 from cereal import log
-from cereal.services import service_list
-
-assert MultiplePublishersError
-assert MessagingError
+from cereal.services import SERVICE_LIST
 
 NO_TRAVERSAL_LIMIT = 2**64-1
-AVG_FREQ_HISTORY = 100
-SIMULATION = "SIMULATION" in os.environ
 
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  import time
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
-
-context = Context()
 
 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
+  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+    return msg
 
-def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
-  dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
-  dat.valid = True
+
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
@@ -41,91 +36,49 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca
       dat.init(service, size)
   return dat
 
-def pub_sock(endpoint: str) -> PubSocket:
-  sock = PubSocket()
-  sock.connect(context, endpoint)
-  return sock
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  sock = SubSocket()
-  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
-
-  if timeout is not None:
-    sock.setTimeout(timeout)
-
-  if poller is not None:
-    poller.registerSocket(sock)
-  return sock
-
-
-def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
-  """Receive all message currently available on the queue"""
-  ret: List[bytes] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:
-      break
-
-    ret.append(dat)
-
-  return ret
 
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  ret: List[capnp.lib.capnp._DynamicStructReader] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:  # Timeout hit
-      break
-
-    dat = log_from_bytes(dat)
-    ret.append(dat)
-
-  return ret
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
   while 1:
     if wait and dat is None:
-      rcv = sock.receive()
+      recv = sock.receive()
     else:
-      rcv = sock.receive(non_blocking=True)
+      recv = sock.receive(non_blocking=True)
 
-    if rcv is None:  # Timeout hit
+    if recv is None:  # Timeout hit
       break
 
-    dat = rcv
+    dat = recv
 
   if dat is not None:
     dat = log_from_bytes(dat)
 
   return dat
 
-def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+
+def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
-def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+
+def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
+
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   """Keep receiving until we get a message"""
   while True:
@@ -133,48 +86,77 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
     if dat is not None:
       return log_from_bytes(dat)
 
-class SubMaster():
-  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+
+class SubMaster:
+  def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               addr: str = "127.0.0.1"):
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
+    self.seen = {s: False for s in services}
     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.recv_time = {s: 0. for s in services}
+    self.recv_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.freq_ok = {s: False for s in services}
+    self.recv_dts: Dict[str, Deque[float]] = {}
     self.sock = {}
-    self.freq = {}
     self.data = {}
     self.valid = {}
     self.logMonoTime = {}
 
+    self.max_freq = {}
+    self.min_freq = {}
+
     self.poller = Poller()
-    self.non_polled_services = [s for s in services if poll is not None and
-                                len(poll) and s not in poll]
+    polled_services = set([poll, ] if poll is not None else services)
+    self.non_polled_services = set(services) - polled_services
 
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
+
+    # if freq and poll aren't specified, assume the max to be conservative
+    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
+    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
 
     for s in services:
-      if addr is not None:
-        p = self.poller if s not in self.non_polled_services else None
-        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-      self.freq[s] = service_list[s].frequency
+      p = self.poller if s not in self.non_polled_services else None
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
 
       try:
         data = new_message(s)
-      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
+      except capnp.lib.capnp.KjException:
         data = new_message(s, 0) # lists
 
-      self.data[s] = getattr(data, s)
+      self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
+      self.valid[s] = True  # FIXME: this should default to False
+
+      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
+      if s == poll:
+        max_freq = freq
+        min_freq = freq
+      else:
+        max_freq = min(freq, self.update_freq)
+        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
+          min_freq = self.update_freq
+        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
+          min_freq = freq
+        else:
+          min_freq = min(freq, freq / 2.)
+      self.max_freq[s] = max_freq*1.2
+      self.min_freq[s] = min_freq*0.8
+      self.recv_dts[s] = deque(maxlen=int(10*freq))
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
-  def update(self, timeout: int = 1000) -> None:
+  def _check_avg_freq(self, s: str) -> bool:
+    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
+
+  def update(self, timeout: int = 100) -> None:
     msgs = []
     for sock in self.poller.poll(timeout):
       msgs.append(recv_one_or_none(sock))
@@ -182,7 +164,7 @@ class SubMaster():
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(sec_since_boot(), msgs)
+    self.update_msgs(time.monotonic(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
@@ -192,51 +174,63 @@ class SubMaster():
         continue
 
       s = msg.which()
+      self.seen[s] = True
       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
+      if self.recv_time[s] > 1e-5:
+        self.recv_dts[s].append(cur_time - self.recv_time[s])
+      self.recv_time[s] = cur_time
+      self.recv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-      if SIMULATION:
-        self.alive[s] = True
+    for s in self.data:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
+        # alive if delay is within 10x the expected frequency
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
 
-    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])
+        # check average frequency; slow to fall, quick to recover
+        dts = self.recv_dts[s]
+        assert dts.maxlen is not None
+        recent_dts = list(dts)[-int(dts.maxlen / 10):]
+        try:
+          avg_freq = 1 / (sum(dts) / len(dts))
+          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
+        except ZeroDivisionError:
+          avg_freq = 0
+          avg_freq_recent = 0
 
-          # 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)
+        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
+        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
+        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
+      else:
+        self.freq_ok[s] = True
+        if self.simulation:
+          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
         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()
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
     return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
-  def all_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.valid.keys()
-    return all(self.valid[s] for s in service_list)
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
 
-  def all_alive_and_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
 
-class PubMaster():
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
+
+
+class PubMaster:
   def __init__(self, services: List[str]):
     self.sock = {}
     for s in services:
@@ -247,5 +241,12 @@ class PubMaster():
       dat = dat.to_bytes()
     self.sock[s].send(dat)
 
+  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
+
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore

cereal/messaging/bridge.cc

@@ -1,79 +0,0 @@
-#include <algorithm>
-#include <cassert>
-#include <csignal>
-#include <iostream>
-#include <map>
-#include <string>
-
-typedef void (*sighandler_t)(int sig);
-
-#include "impl_msgq.h"
-#include "impl_zmq.h"
-#include "services.h"
-
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
-
-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
-  std::vector<std::string> service_list;
-  for (const auto& it : services) {
-    std::string name = it.name;
-    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
-      continue;
-    }
-    service_list.push_back(name);
-  }
-  return service_list;
-}
-
-int main(int argc, char** argv) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-
-  bool zmq_to_msgq = argc > 2;
-  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
-
-  Poller *poller;
-  Context *pub_context;
-  Context *sub_context;
-  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
-    poller = new ZMQPoller();
-    pub_context = new MSGQContext();
-    sub_context = new ZMQContext();
-  } else {
-    poller = new MSGQPoller();
-    pub_context = new ZMQContext();
-    sub_context = new MSGQContext();
-  }
-
-  std::map<SubSocket*, PubSocket*> sub2pub;
-  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
-    PubSocket * pub_sock;
-    SubSocket * sub_sock;
-    if (zmq_to_msgq) {
-      pub_sock = new MSGQPubSocket();
-      sub_sock = new ZMQSubSocket();
-    } else {
-      pub_sock = new ZMQPubSocket();
-      sub_sock = new MSGQSubSocket();
-    }
-    pub_sock->connect(pub_context, endpoint);
-    sub_sock->connect(sub_context, endpoint, ip, false);
-
-    poller->registerSocket(sub_sock);
-    sub2pub[sub_sock] = pub_sock;
-  }
-
-  while (true) {
-    for (auto sub_sock : poller->poll(100)) {
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      sub2pub[sub_sock]->sendMessage(msg);
-      delete msg;
-    }
-  }
-  return 0;
-}

cereal/messaging/impl_msgq.cc

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

cereal/messaging/impl_msgq.h

@@ -1,65 +0,0 @@
-#pragma once
-#include "messaging.h"
-#include "msgq.h"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class MSGQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  MSGQContext();
-  void * getRawContext() {return context;}
-  ~MSGQContext();
-};
-
-class MSGQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void takeOwnership(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~MSGQMessage();
-};
-
-class MSGQSubSocket : public SubSocket {
-private:
-  msgq_queue_t * q = NULL;
-  int timeout;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return (void*)q;}
-  Message *receive(bool non_blocking=false);
-  ~MSGQSubSocket();
-};
-
-class MSGQPubSocket : public PubSocket {
-private:
-  msgq_queue_t * q = NULL;
-public:
-  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();
-};
-
-class MSGQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  msgq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
-};

cereal/messaging/impl_zmq.cc

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

cereal/messaging/impl_zmq.h

@@ -1,64 +0,0 @@
-#pragma once
-#include "messaging.h"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class ZMQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  ZMQContext();
-  void * getRawContext() {return context;}
-  ~ZMQContext();
-};
-
-class ZMQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~ZMQMessage();
-};
-
-class ZMQSubSocket : public SubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return sock;}
-  Message *receive(bool non_blocking=false);
-  ~ZMQSubSocket();
-};
-
-class ZMQPubSocket : public PubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  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();
-};
-
-class ZMQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  zmq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
-};

cereal/messaging/messaging.cc

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

cereal/messaging/messaging.h

@@ -1,145 +0,0 @@
-#pragma once
-#include <cstddef>
-#include <map>
-#include <string>
-#include <vector>
-#include <capnp/serialize.h>
-#include "../gen/cpp/log.capnp.h"
-
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-bool messaging_use_zmq();
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  virtual bool all_readers_updated() = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
-  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
-
-class SubMaster {
-public:
-  SubMaster(const std::vector<const char *> &service_list,
-            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
-  void update(int timeout = 1000);
-  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
-  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
-  void drain();
-  ~SubMaster();
-
-  uint64_t frame = 0;
-  bool updated(const char *name) const;
-  bool alive(const char *name) const;
-  bool valid(const char *name) const;
-  uint64_t rcv_frame(const char *name) const;
-  uint64_t rcv_time(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name) const;
-
-private:
-  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
-  Poller *poller_ = nullptr;
-  struct SubMessage;
-  std::map<SubSocket *, SubMessage *> messages_;
-  std::map<std::string, SubMessage *> services_;
-};
-
-class MessageBuilder : public capnp::MallocMessageBuilder {
-public:
-  MessageBuilder() = default;
-
-  cereal::Event::Builder initEvent(bool valid = true) {
-    cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
-    event.setValid(valid);
-    return event;
-  }
-
-  kj::ArrayPtr<capnp::byte> toBytes() {
-    heapArray_ = capnp::messageToFlatArray(*this);
-    return heapArray_.asBytes();
-  }
-
-private:
-  kj::Array<capnp::word> heapArray_;
-};
-
-class PubMaster {
-public:
-  PubMaster(const std::vector<const char *> &service_list);
-  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
-  int send(const char *name, MessageBuilder &msg);
-  ~PubMaster();
-
-private:
-  std::map<std::string, PubSocket *> sockets_;
-};
-
-class AlignedBuffer {
-public:
-  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
-    words_size = size / sizeof(capnp::word) + 1;
-    if (aligned_buf.size() < words_size) {
-      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
-    }
-    memcpy(aligned_buf.begin(), data, size);
-    return aligned_buf.slice(0, words_size);
-  }
-  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
-    return align(m->getData(), m->getSize());
-  }
-private:
-  kj::Array<capnp::word> aligned_buf;
-  size_t words_size;
-};

cereal/messaging/messaging.pxd

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

cereal/messaging/messaging_pyx.pyx

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

cereal/messaging/msgq.cc

@@ -1,464 +0,0 @@
-#include <iostream>
-#include <cassert>
-#include <cerrno>
-#include <cmath>
-#include <cstring>
-#include <cstdint>
-#include <chrono>
-#include <algorithm>
-#include <cstdlib>
-#include <csignal>
-#include <random>
-
-#include <poll.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/syscall.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <stdio.h>
-
-#include "msgq.h"
-
-void sigusr2_handler(int signal) {
-  assert(signal == SIGUSR2);
-}
-
-uint64_t msgq_get_uid(void){
-  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
-
-  #ifdef __APPLE__
-    // TODO: this doesn't work
-    uint64_t uid = distribution(rd) << 32 | getpid();
-  #else
-    uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
-  #endif
-
-  return uid;
-}
-
-int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
-  msg->size = size;
-  msg->data = new(std::nothrow) char[size];
-
-  return (msg->data == NULL) ? -1 : 0;
-}
-
-
-int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
-  int r = msgq_msg_init_size(msg, size);
-
-  if (r == 0)
-    memcpy(msg->data, data, size);
-
-  return r;
-}
-
-int msgq_msg_close(msgq_msg_t * msg){
-  if (msg->size > 0)
-    delete[] msg->data;
-
-  msg->size = 0;
-
-  return 0;
-}
-
-void msgq_reset_reader(msgq_queue_t * q){
-  int id = q->reader_id;
-  q->read_valids[id]->store(true);
-  q->read_pointers[id]->store(*q->write_pointer);
-}
-
-void msgq_wait_for_subscriber(msgq_queue_t *q){
-  while (*q->num_readers == 0){
-    ;
-  }
-
-  return;
-}
-
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
-  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-  std::signal(SIGUSR2, sigusr2_handler);
-
-  const char * prefix = "/dev/shm/";
-  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
-  strcpy(full_path, prefix);
-  strcat(full_path, path);
-
-  auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
-  if (fd < 0) {
-    std::cout << "Warning, could not open: " << full_path << std::endl;
-    delete[] full_path;
-    return -1;
-  }
-  delete[] full_path;
-
-  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
-  if (rc < 0){
-    close(fd);
-    return -1;
-  }
-  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
-  close(fd);
-
-  if (mem == NULL){
-    return -1;
-  }
-  q->mmap_p = mem;
-
-  msgq_header_t *header = (msgq_header_t *)mem;
-
-  // Setup pointers to header segment
-  q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
-  q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
-  q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
-    q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
-    q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
-  }
-
-  q->data = mem + sizeof(msgq_header_t);
-  q->size = size;
-  q->reader_id = -1;
-
-  q->endpoint = path;
-  q->read_conflate = false;
-
-  return 0;
-}
-
-void msgq_close_queue(msgq_queue_t *q){
-  if (q->mmap_p != NULL){
-    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
-  }
-}
-
-
-void msgq_init_publisher(msgq_queue_t * q) {
-  //std::cout << "Starting publisher" << std::endl;
-  uint64_t uid = msgq_get_uid();
-
-  *q->write_uid = uid;
-  *q->num_readers = 0;
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    *q->read_valids[i] = false;
-    *q->read_uids[i] = 0;
-  }
-
-  q->write_uid_local = uid;
-}
-
-static void thread_signal(uint32_t tid) {
-  #ifndef SYS_tkill
-    // TODO: this won't work for multithreaded programs
-    kill(tid, SIGUSR2);
-  #else
-    syscall(SYS_tkill, tid, SIGUSR2);
-  #endif
-}
-
-void msgq_init_subscriber(msgq_queue_t * q) {
-  assert(q != NULL);
-  assert(q->num_readers != NULL);
-
-  uint64_t uid = msgq_get_uid();
-
-  // Get reader id
-  while (true){
-    uint64_t cur_num_readers = *q->num_readers;
-    uint64_t new_num_readers = cur_num_readers + 1;
-
-    // No more slots available. Reset all subscribers to kick out inactive ones
-    if (new_num_readers > NUM_READERS){
-      std::cout << "Warning, evicting all subscribers!" << std::endl;
-      *q->num_readers = 0;
-
-      for (size_t i = 0; i < NUM_READERS; i++){
-        *q->read_valids[i] = false;
-
-        uint64_t old_uid = *q->read_uids[i];
-        *q->read_uids[i] = 0;
-
-        // Wake up reader in case they are in a poll
-        thread_signal(old_uid & 0xFFFFFFFF);
-      }
-
-      continue;
-    }
-
-    // Use atomic compare and swap to handle race condition
-    // where two subscribers start at the same time
-    if (std::atomic_compare_exchange_strong(q->num_readers,
-                                            &cur_num_readers,
-                                            new_num_readers)){
-      q->reader_id = cur_num_readers;
-      q->read_uid_local = uid;
-
-      // We start with read_valid = false,
-      // on the first read the read pointer will be synchronized with the write pointer
-      *q->read_valids[cur_num_readers] = false;
-      *q->read_pointers[cur_num_readers] = 0;
-      *q->read_uids[cur_num_readers] = uid;
-      break;
-    }
-  }
-
-  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
-  msgq_reset_reader(q);
-}
-
-int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
-  // Die if we are no longer the active publisher
-  if (q->write_uid_local != *q->write_uid){
-    std::cout << "Killing old publisher: " << q->endpoint << std::endl;
-    errno = EADDRINUSE;
-    return -1;
-  }
-
-  uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
-
-  // We need to fit at least three messages in the queue,
-  // then we can always safely access the last message
-  assert(3 * total_msg_size <= q->size);
-
-  uint64_t num_readers = *q->num_readers;
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char *p = q->data + write_pointer; // add base offset
-
-  // Check remaining space
-  // Always leave space for a wraparound tag for the next message, including alignment
-  int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
-  if (remaining_space <= 0){
-    // Write -1 size tag indicating wraparound
-    *(int64_t*)p = -1;
-
-    // Invalidate all readers that are beyond the write pointer
-    // TODO: should we handle the case where a new reader shows up while this is running?
-    for (uint64_t i = 0; i < num_readers; i++){
-      uint64_t read_pointer = *q->read_pointers[i];
-      uint64_t read_cycles = read_pointer >> 32;
-      read_pointer &= 0xFFFFFFFF;
-
-      if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
-        *q->read_valids[i] = false;
-      }
-    }
-
-    // Update global and local copies of write pointer and write_cycles
-    write_pointer = 0;
-    write_cycles = write_cycles + 1;
-    PACK64(*q->write_pointer, write_cycles, write_pointer);
-
-    // Set actual pointer to the beginning of the data segment
-    p = q->data;
-  }
-
-  // Invalidate readers that are in the area that will be written
-  uint64_t start = write_pointer;
-  uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
-
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint32_t read_cycles, read_pointer;
-    UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
-
-    if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
-      *q->read_valids[i] = false;
-    }
-  }
-
-
-  // Write size tag
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  *size_p = msg->size;
-
-  // Copy data
-  memcpy(p + sizeof(int64_t), msg->data, msg->size);
-  __sync_synchronize();
-
-  // Update write pointer
-  uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
-  PACK64(*q->write_pointer, write_cycles, new_ptr);
-
-  // Notify readers
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint64_t reader_uid = *q->read_uids[i];
-    thread_signal(reader_uid & 0xFFFFFFFF);
-  }
-
-  return msg->size;
-}
-
-
-int msgq_msg_ready(msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  // Check if new message is available
-  return (read_pointer != write_pointer);
-}
-
-int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char * p = q->data + read_pointer;
-
-  // Check if new message is available
-  if (read_pointer == write_pointer) {
-    msg->size = 0;
-    return 0;
-  }
-
-  // Read potential message size
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  std::int64_t size = *size_p;
-
-  // Check if the size that was read is valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  // If size is -1 the buffer was full, and we need to wrap around
-  if (size == -1){
-    read_cycles++;
-    PACK64(*q->read_pointers[id], read_cycles, 0);
-    goto start;
-  }
-
-  // crashing is better than passing garbage data to the consumer
-  // the size will have weird value if it was overwritten by data accidentally
-  assert((uint64_t)size < q->size);
-  assert(size > 0);
-
-  uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
-
-  // If conflate is true, check if this is the latest message, else start over
-  if (q->read_conflate){
-    if (new_read_pointer != write_pointer){
-      // Update read pointer
-      PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-      goto start;
-    }
-  }
-
-  // Copy message
-  if (msgq_msg_init_size(msg, size) < 0)
-    return -1;
-
-  __sync_synchronize();
-  memcpy(msg->data, p + sizeof(int64_t), size);
-  __sync_synchronize();
-
-  // Update read pointer
-  PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-
-  // Check if the actual data that was copied is valid
-  if (!*q->read_valids[id]){
-    msgq_msg_close(msg);
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-
-  return msg->size;
-}
-
-
-
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
-  int num = 0;
-
-  // Check if messages ready
-  for (size_t i = 0; i < nitems; i++) {
-    items[i].revents = msgq_msg_ready(items[i].q);
-    if (items[i].revents) num++;
-  }
-
-  int ms = (timeout == -1) ? 100 : timeout;
-  struct timespec ts;
-  ts.tv_sec = ms / 1000;
-  ts.tv_nsec = (ms % 1000) * 1000 * 1000;
-
-
-  while (num == 0) {
-    int ret;
-
-    ret = nanosleep(&ts, &ts);
-
-    // Check if messages ready
-    for (size_t i = 0; i < nitems; i++) {
-      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
-        num += 1;
-        items[i].revents = 1;
-      }
-    }
-
-    // exit if we had a timeout and the sleep finished
-    if (timeout != -1 && ret == 0){
-      break;
-    }
-  }
-
-  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

@@ -1,68 +0,0 @@
-#pragma once
-#include <cstdint>
-#include <cstring>
-#include <string>
-#include <atomic>
-
-#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#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)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
-
-struct  msgq_header_t {
-  uint64_t num_readers;
-  uint64_t write_pointer;
-  uint64_t write_uid;
-  uint64_t read_pointers[NUM_READERS];
-  uint64_t read_valids[NUM_READERS];
-  uint64_t read_uids[NUM_READERS];
-};
-
-struct msgq_queue_t {
-  std::atomic<uint64_t> *num_readers;
-  std::atomic<uint64_t> *write_pointer;
-  std::atomic<uint64_t> *write_uid;
-  std::atomic<uint64_t> *read_pointers[NUM_READERS];
-  std::atomic<uint64_t> *read_valids[NUM_READERS];
-  std::atomic<uint64_t> *read_uids[NUM_READERS];
-  char * mmap_p;
-  char * data;
-  size_t size;
-  int reader_id;
-  uint64_t read_uid_local;
-  uint64_t write_uid_local;
-
-  bool read_conflate;
-  std::string endpoint;
-};
-
-struct msgq_msg_t {
-  size_t size;
-  char * data;
-};
-
-struct msgq_pollitem_t {
-  msgq_queue_t *q;
-  int revents;
-};
-
-void msgq_wait_for_subscriber(msgq_queue_t *q);
-void msgq_reset_reader(msgq_queue_t *q);
-
-int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
-int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
-int msgq_msg_close(msgq_msg_t *msg);
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
-void msgq_close_queue(msgq_queue_t *q);
-void msgq_init_publisher(msgq_queue_t * q);
-void msgq_init_subscriber(msgq_queue_t * q);
-
-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

@@ -1,205 +0,0 @@
-#include <time.h>
-#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;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
-static const service *get_service(const char *name) {
-  for (const auto &it : services) {
-    if (strcmp(it.name, name) == 0) return &it;
-  }
-  return nullptr;
-}
-
-static inline bool inList(const std::vector<const char *> &list, const char *value) {
-  for (auto &v : list) {
-    if (strcmp(value, v) == 0) return true;
-  }
-  return false;
-}
-
-class MessageContext {
-public:
-  MessageContext() : ctx_(nullptr) {};
-  ~MessageContext() { delete ctx_; }
-  inline Context *context() {
-    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
-    return ctx_;
-  }
-private:
-  Context *ctx_;
-  std::once_flag init_flag;
-};
-
-MessageContext message_context;
-
-struct SubMaster::SubMessage {
-  std::string name;
-  SubSocket *socket = nullptr;
-  int freq = 0;
-  bool updated = false, alive = false, valid = true, ignore_alive;
-  uint64_t rcv_time = 0, rcv_frame = 0;
-  void *allocated_msg_reader = nullptr;
-  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  AlignedBuffer aligned_buf;
-  cereal::Event::Reader event;
-};
-
-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(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))};
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
-    messages_[socket] = m;
-    services_[name] = m;
-  }
-}
-
-void SubMaster::update(int timeout) {
-  for (auto &kv : messages_) kv.second->updated = false;
-
-  auto sockets = poller_->poll(timeout);
-  uint64_t current_time = nanos_since_boot();
-
-  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
-
-  for (auto s : sockets) {
-    Message *msg = s->receive(true);
-    if (msg == nullptr) continue;
-
-    SubMessage *m = messages_.at(s);
-
-    m->msg_reader->~FlatArrayMessageReader();
-    capnp::ReaderOptions options;
-    options.traversalLimitInWords = kj::maxValue; // Don't limit
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
-    delete msg;
-    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
-  }
-
-  update_msgs(current_time, messages);
-}
-
-void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
-  if (++frame == UINT64_MAX) frame = 1;
-
-  for(auto &kv : messages) {
-    auto m_find = services_.find(kv.first);
-    if (m_find == services_.end()){
-      continue;
-    }
-    SubMessage *m = m_find->second;
-    m->event = kv.second;
-    m->updated = true;
-    m->rcv_time = current_time;
-    m->rcv_frame = frame;
-    m->valid = m->event.getValid();
-    if (SIMULATION) m->alive = true;
-  }
-
-  if (!SIMULATION) {
-    for (auto &kv : messages_) {
-      SubMessage *m = kv.second;
-      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
-    }
-  }
-}
-
-bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
-  int found = 0;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
-    }
-  }
-  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
-}
-
-void SubMaster::drain() {
-  while (true) {
-    auto polls = poller_->poll(0);
-    if (polls.size() == 0)
-      break;
-
-    for (auto sock : polls) {
-      Message *msg = sock->receive(true);
-      delete msg;
-    }
-  }
-}
-
-bool SubMaster::updated(const char *name) const {
-  return services_.at(name)->updated;
-}
-
-bool SubMaster::alive(const char *name) const {
-  return services_.at(name)->alive;
-}
-
-bool SubMaster::valid(const char *name) const {
-  return services_.at(name)->valid;
-}
-
-uint64_t SubMaster::rcv_frame(const char *name) const {
-  return services_.at(name)->rcv_frame;
-}
-
-uint64_t SubMaster::rcv_time(const char *name) const {
-  return services_.at(name)->rcv_time;
-}
-
-cereal::Event::Reader &SubMaster::operator[](const char *name) const {
-  return services_.at(name)->event;
-};
-
-SubMaster::~SubMaster() {
-  delete poller_;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->msg_reader->~FlatArrayMessageReader();
-    free(m->allocated_msg_reader);
-    delete m->socket;
-    delete m;
-  }
-}
-
-PubMaster::PubMaster(const std::vector<const char *> &service_list) {
-  for (auto name : service_list) {
-    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
-    assert(socket);
-    sockets_[name] = socket;
-  }
-}
-
-int PubMaster::send(const char *name, MessageBuilder &msg) {
-  auto bytes = msg.toBytes();
-  return send(name, bytes.begin(), bytes.size());
-}
-
-PubMaster::~PubMaster() {
-  for (auto s : sockets_) delete s.second;
-}

cereal/services.py

@@ -1,76 +1,105 @@
 #!/usr/bin/env python3
-import os
 from typing import Optional
 
-TICI = os.path.isfile('/TICI')
-RESERVED_PORT = 8022  # sshd
-STARTING_PORT = 8001
-
-
-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
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
 
-DCAM_FREQ = 10. if not TICI else 20.
 
-services = {
+_services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
-  "sensorEvents": (True, 100., 100),
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 25., 25),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100.),
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
-  "pandaStates": (True, 2., 1),
+  "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (True, 20., 1),
+  "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
-  "gpsLocationExternal": (True, 10., 1),
+  "procLog": (True, 0.5, 15),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
-  "clocks": (True, 1., 1),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 2),
-  "liveParameters": (True, 20., 2),
+  "liveLocationKalman": (True, 20., 5),
+  "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
-  "driverEncodeIdx": (True, DCAM_FREQ, 1),
-  "driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
-  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
-  "wideRoadEncodeIdx": (True, 20., 1),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 0.),
+  "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
+  "navModel": (True, 2., 4.),
+  "mapRenderState": (True, 2., 1.),
+  "uiPlan": (True, 20., 40.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userFlag": (True, 0., 1),
+  "microphone": (True, 10., 10),
 
   # debug
-  "testJoystick": (False, 0.),
+  "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
+  "roadEncodeData": (False, 20.),
+  "driverEncodeData": (False, 20.),
+  "wideRoadEncodeData": (False, 20.),
+  "qRoadEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+
+  # FrogPilot
+  "frogpilotCarParams": (True, 0.02, 1),
+  "frogpilotCarState": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
 }
-service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
-                idx, (name, vals) in enumerate(services.items())}
+SERVICE_LIST = {name: Service(*vals) for
+                idx, (name, vals) in enumerate(_services.items())}
 
 
 def build_header():
@@ -78,14 +107,19 @@ def build_header():
   h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
   h += "#ifndef __SERVICES_H\n"
   h += "#define __SERVICES_H\n"
-  h += "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():
+
+  h += "#include <map>\n"
+  h += "#include <string>\n"
+
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", %d, %s, %d, %d },\n' % \
-         (k, v.port, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
   h += "};\n"
+
   h += "#endif\n"
   return h
 

cereal/visionipc/ipc.cc

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

cereal/visionipc/ipc.h

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

cereal/visionipc/test_runner.cc

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

cereal/visionipc/visionbuf.cc

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

cereal/visionipc/visionbuf.h

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

cereal/visionipc/visionbuf_cl.cc

@@ -1,94 +0,0 @@
-#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, 0664);
-  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 length) {
-  this->len = length;
-  this->mmap_len = this->len;
-  this->addr = malloc_with_fd(this->len, &this->fd);
-  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
-}
-
-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);
-
-  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
-}
-
-
-int VisionBuf::sync(int dir) {
-  int err = 0;
-  if (!this->buf_cl) return 0;
-
-  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);
-  }
-
-  if (err == 0){
-    err = clFinish(this->copy_q);
-  }
-
-  return err;
-}
-
-int VisionBuf::free() {
-  int err = 0;
-  if (this->buf_cl){
-    err = clReleaseMemObject(this->buf_cl);
-    if (err != 0) return err;
-
-    err = clReleaseCommandQueue(this->copy_q);
-    if (err != 0) return err;
-  }
-
-  err = munmap(this->addr, this->len);
-  if (err != 0) return err;
-
-  err = close(this->fd);
-  return err;
-}

cereal/visionipc/visionbuf_ion.cc

@@ -1,158 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <linux/ion.h>
-#include <CL/cl_ext.h>
-
-#include <msm_ion.h>
-
-#include "visionbuf.h"
-
-// keep trying if x gets interrupted by a signal
-#define HANDLE_EINTR(x)                                       \
-  ({                                                          \
-    decltype(x) ret;                                          \
-    int try_cnt = 0;                                          \
-    do {                                                      \
-      ret = (x);                                              \
-    } while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
-    ret;                                                      \
-  })
-
-// just hard-code these for convenience
-// size_t device_page_size = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
-//                 sizeof(device_page_size), &device_page_size,
-//                 NULL);
-
-// size_t padding_cl = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
-//                 sizeof(padding_cl), &padding_cl,
-//                 NULL);
-#define DEVICE_PAGE_SIZE_CL 4096
-#define PADDING_CL 0
-
-static int ion_fd = -1;
-static void ion_init() {
-  if (ion_fd == -1) {
-    ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
-  }
-}
-
-void VisionBuf::allocate(size_t length) {
-  int err;
-
-  ion_init();
-
-  struct ion_allocation_data ion_alloc = {0};
-  ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
-  ion_alloc.align = 4096;
-  ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
-  ion_alloc.flags = ION_FLAG_CACHED;
-
-  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
-  assert(err == 0);
-
-  struct ion_fd_data ion_fd_data = {0};
-  ion_fd_data.handle = ion_alloc.handle;
-  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
-  assert(err == 0);
-
-  void *mmap_addr = mmap(NULL, ion_alloc.len,
-                         PROT_READ | PROT_WRITE,
-                         MAP_SHARED, ion_fd_data.fd, 0);
-  assert(mmap_addr != MAP_FAILED);
-
-  memset(mmap_addr, 0, ion_alloc.len);
-
-  this->len = length;
-  this->mmap_len = ion_alloc.len;
-  this->addr = mmap_addr;
-  this->handle = ion_alloc.handle;
-  this->fd = ion_fd_data.fd;
-  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
-}
-
-void VisionBuf::import(){
-  int err;
-  assert(this->fd >= 0);
-
-  ion_init();
-
-  // Get handle
-  struct ion_fd_data fd_data = {0};
-  fd_data.fd = this->fd;
-  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
-  assert(err == 0);
-
-  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);
-
-  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
-}
-
-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 = this->fd;
-  ion_cl.ion_hostptr = this->addr;
-
-  this->buf_cl = clCreateBuffer(ctx,
-                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              this->len, &ion_cl, &err);
-  assert(err == 0);
-}
-
-
-int VisionBuf::sync(int dir) {
-  struct ion_flush_data flush_data = {0};
-  flush_data.handle = this->handle;
-  flush_data.vaddr = this->addr;
-  flush_data.offset = 0;
-  flush_data.length = this->len;
-
-  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
-  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
-  // ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
-
-  struct ion_custom_data custom_data = {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;
-  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
-}
-
-int VisionBuf::free() {
-  int err = 0;
-
-  if (this->buf_cl){
-    err = clReleaseMemObject(this->buf_cl);
-    if (err != 0) return err;
-  }
-
-  err = munmap(this->addr, this->mmap_len);
-  if (err != 0) return err;
-
-  err = close(this->fd);
-  if (err != 0) return err;
-
-  struct ion_handle_data handle_data = {.handle = this->handle};
-  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
-}

cereal/visionipc/visionipc.h

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

cereal/visionipc/visionipc.pxd

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

cereal/visionipc/visionipc_client.cc

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

cereal/visionipc/visionipc_client.h

@@ -1,33 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <unistd.h>
-
-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/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);
-  bool is_connected() { return connected; }
-};

cereal/visionipc/visionipc_pyx.pyx

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

cereal/visionipc/visionipc_server.cc

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

cereal/visionipc/visionipc_server.h

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

cereal/visionipc/visionipc_tests.cc

@@ -1,137 +0,0 @@
-#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_ROAD, 1, false, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, 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_ROAD, num_buffers, false, width, height);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, 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_ROAD, 1, false, 100, 100);
-  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
-  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
-  client_yuv.connect();
-  client_rgb.connect();
-
-  REQUIRE(client_rgb.buffers[0].rgb == true);
-  REQUIRE(client_yuv.buffers[0].rgb == false);
-}
-
-TEST_CASE("Send single buffer"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
-  REQUIRE(buf != nullptr);
-
-  *((uint64_t*)buf->addr) = 1234;
-
-  VisionIpcBufExtra extra = {0};
-  extra.frame_id = 1337;
-  buf->set_frame_id(extra.frame_id);
-
-  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);
-  REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
-}
-
-
-TEST_CASE("Test no conflate"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
-  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_ROAD, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
-  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 +0,0 @@
-Import('envCython', 'common')
-
-envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

common/api/__init__.py

@@ -2,15 +2,18 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from selfdrive.version import get_version
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+KONIK_API_HOST = os.getenv('API_HOST', 'https://api.konik.ai')
 
-class Api():
+class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    with open(PERSIST+'/comma/id_rsa') as f:
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
       self.private_key = f.read()
 
   def get(self, *args, **kwargs):
@@ -22,13 +25,13 @@ class Api():
   def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
-  def get_token(self):
+  def get_token(self, expiry_hours=1):
     now = datetime.utcnow()
     payload = {
       'identity': self.dongle_id,
       'nbf': now,
       'iat': now,
-      'exp': now + timedelta(hours=1)
+      'exp': now + timedelta(hours=expiry_hours)
     }
     token = jwt.encode(payload, self.private_key, algorithm='RS256')
     if isinstance(token, bytes):
@@ -43,4 +46,4 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
 
   headers['User-Agent'] = "openpilot-" + get_version()
 
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+  return requests.request(method, (KONIK_API_HOST if use_konik_server() else API_HOST) + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

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

common/clock.pyx

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

common/conversions.py

@@ -0,0 +1,25 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Distance
+  METER_TO_FOOT = 3.28084
+  FOOT_TO_METER = 1. / METER_TO_FOOT
+  CM_TO_INCH = 1. / 2.54
+  INCH_TO_CM = 1. / CM_TO_INCH
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/ffi_wrapper.py

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

common/file_helpers.py

@@ -1,60 +1,6 @@
 import os
-import shutil
 import tempfile
-from atomicwrites import AtomicWriter
-
-
-def mkdirs_exists_ok(path):
-  if path.startswith('http://') or path.startswith('https://'):
-    raise ValueError('URL path')
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-
-def get_tmpdir_on_same_filesystem(path):
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1 and parts[1] == "scratch":
-    return "/scratch/tmp"
-  elif len(parts) > 2 and parts[2] == "runner":
-    return "/{}/runner/tmp".format(parts[1])
-  return "/tmp"
-
-
-class NamedTemporaryDir():
-  def __init__(self, temp_dir=None):
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
+import contextlib
 
 
 class CallbackReader:
@@ -76,25 +22,16 @@ class CallbackReader:
     return chunk
 
 
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    return writer.get_fileobject(dir=temp_dir)
-  return _get_fileobject
+@contextlib.contextmanager
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+                        overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
 
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
 
-def atomic_write_on_fs_tmp(path, **kwargs):
-  """Creates an atomic writer using a temporary file in a temporary directory
-     on the same filesystem as path.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
-
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)

common/git.py

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

common/gpio.py

@@ -1,14 +1,54 @@
-def gpio_init(pin, output):
+import os
+from functools import cache
+
+def gpio_init(pin: int, output: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
       f.write(b"out" if output else b"in")
   except Exception as e:
     print(f"Failed to set gpio {pin} direction: {e}")
 
-
-def gpio_set(pin, high):
+def gpio_set(pin: int, high: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
       f.write(b"1" if high else b"0")
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> bool | None:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val
+
+def gpio_export(pin: int) -> None:
+  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
+    return
+
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@cache
+def get_irq_action(irq: int) -> list[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
+      actions = f.read().strip().split(',')
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> list[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
+        ret.append(irq)
+  return ret

common/kalman/.gitignore

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

common/kalman/SConscript

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

common/kalman/simple_kalman.py

@@ -1,3 +0,0 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
-assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -1,18 +0,0 @@
-# cython: language_level = 3
-
-cdef class KF1D:
-  cdef public:
-    double x0_0
-    double x1_0
-    double K0_0
-    double K1_0
-    double A0_0
-    double A0_1
-    double A1_0
-    double A1_1
-    double C0_0
-    double C0_1
-    double A_K_0
-    double A_K_1
-    double A_K_2
-    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-
-cdef class KF1D:
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-  def update(self, meas):
-    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  @x.setter
-  def x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -1,23 +0,0 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = np.atleast_2d(C)
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x

common/kalman/tests/test_simple_kalman.py

@@ -1,87 +0,0 @@
-import unittest
-import random
-import timeit
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.array([C0_0, C0_1]),
-                           K=np.array([[K0_0], [K1_0]]))
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.x = [[1.0], [1.0]]
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
-
-  def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
-
-  def test_old_equal_new(self):
-    for _ in range(1000):
-      v_wheel = random.uniform(0, 200)
-
-      x_old = self.kf_old.update(v_wheel)
-      x = self.kf.update(v_wheel)
-
-      # Compare the output x, verify that the error is less than 1e-4
-      np.testing.assert_almost_equal(x_old[0], x[0])
-      np.testing.assert_almost_equal(x_old[1], x[1])
-
-  def test_new_is_faster(self):
-    setup = """
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-dt = 0.01
-x0_0 = 0.0
-x1_0 = 0.0
-A0_0 = 1.0
-A0_1 = dt
-A1_0 = 0.0
-A1_1 = 1.0
-C0_0 = 1.0
-C0_1 = 0.0
-K0_0 = 0.12287673
-K1_0 = 0.29666309
-
-kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.array([C0_0, C0_1]),
-                  K=np.array([[K0_0], [K1_0]]))
-
-kf = KF1D(x0=[[x0_0], [x1_0]],
-          A=[[A0_0, A0_1], [A1_0, A1_1]],
-          C=[C0_0, C0_1],
-          K=[[K0_0], [K1_0]])
-    """
-    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
-    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
-    self.assertTrue(kf_speed < kf_old_speed / 4)
-
-if __name__ == "__main__":
-  unittest.main()

common/logging_extra.py

@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import time
 import uuid
 import socket
 import logging
@@ -11,6 +12,8 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
+
 def json_handler(obj):
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
@@ -150,9 +153,9 @@ class SwagLogger(logging.Logger):
   def bind_global(self, **kwargs):
     self.global_ctx.update(kwargs)
 
-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
     evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
     if args:
       evt['args'] = args
     evt.update(kwargs)
@@ -163,6 +166,15 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
+  def timestamp(self, event_name):
+    if LOG_TIMESTAMPS:
+      t = time.monotonic()
+      tstp = NiceOrderedDict()
+      tstp['timestamp'] = NiceOrderedDict()
+      tstp['timestamp']["event"] = event_name
+      tstp['timestamp']["time"] = t*1e9
+      self.debug(tstp)
+
   def findCaller(self, stack_info=False, stacklevel=1):
     """
     Find the stack frame of the caller so that we can note the source
@@ -172,33 +184,33 @@ class SwagLogger(logging.Logger):
     #On some versions of IronPython, currentframe() returns None if
     #IronPython isn't run with -X:Frames.
     if f is not None:
-        f = f.f_back
+      f = f.f_back
     orig_f = f
     while f and stacklevel > 1:
-        f = f.f_back
-        stacklevel -= 1
+      f = f.f_back
+      stacklevel -= 1
     if not f:
-        f = orig_f
+      f = orig_f
     rv = "(unknown file)", 0, "(unknown function)", None
     while hasattr(f, "f_code"):
-        co = f.f_code
-        filename = os.path.normcase(co.co_filename)
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
 
-        # TODO: is this pylint exception correct?
-        if filename == _srcfile:  # pylint: disable=comparison-with-callable
-            f = f.f_back
-            continue
-        sinfo = None
-        if stack_info:
-            sio = io.StringIO()
-            sio.write('Stack (most recent call last):\n')
-            traceback.print_stack(f, file=sio)
-            sinfo = sio.getvalue()
-            if sinfo[-1] == '\n':
-                sinfo = sinfo[:-1]
-            sio.close()
-        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-        break
+      # TODO: is this pylint exception correct?
+      if filename == _srcfile:
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
     return rv
 
 if __name__ == "__main__":

common/markdown.py

@@ -1,14 +1,11 @@
-from typing import List
-
 HTML_REPLACEMENTS = [
   (r'&', r'&'),
   (r'"', r'"'),
 ]
 
-
 def parse_markdown(text: str, tab_length: int = 2) -> str:
   lines = text.split("\n")
-  output: List[str] = []
+  output: list[str] = []
   list_level = 0
 
   def end_outstanding_lists(level: int, end_level: int) -> int:

common/mock/__init__.py

@@ -0,0 +1,50 @@
+"""
+Utilities for generating mock messages for testing.
+example in common/tests/test_mock.py
+"""
+
+
+import functools
+import threading
+from cereal.messaging import PubMaster
+from cereal.services import SERVICE_LIST
+from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.realtime import Ratekeeper
+
+
+MOCK_GENERATOR = {
+  "liveLocationKalman": generate_liveLocationKalman
+}
+
+
+def generate_messages_loop(services: list[str], done: threading.Event):
+  pm = PubMaster(services)
+  rk = Ratekeeper(100)
+  i = 0
+  while not done.is_set():
+    for s in services:
+      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
+      if should_send:
+        message = MOCK_GENERATOR[s]()
+        pm.send(s, message)
+    i += 1
+    rk.keep_time()
+
+
+def mock_messages(services: list[str] | str):
+  if isinstance(services, str):
+    services = [services]
+
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      done = threading.Event()
+      t = threading.Thread(target=generate_messages_loop, args=(services, done))
+      t.start()
+      try:
+        return func(*args, **kwargs)
+      finally:
+        done.set()
+        t.join()
+    return wrapper
+  return decorator

common/mock/generators.py

@@ -0,0 +1,20 @@
+from cereal import messaging
+
+
+LOCATION1 = (32.7174, -117.16277)
+LOCATION2 = (32.7558, -117.2037)
+
+LLK_DECIMATION = 10
+RENDER_FRAMES = 15
+DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
+
+
+def generate_liveLocationKalman(location=LOCATION1):
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  msg.liveLocationKalman.gpsOK = True
+  return msg

common/numpy_fast.py

@@ -1,6 +1,3 @@
-def int_rnd(x):
-  return int(round(x))
-
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 

common/params.py

@@ -1,8 +1,7 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
-assert put_nonblocking
 
 if __name__ == "__main__":
   import sys

common/params_pyx.pyx

@@ -2,30 +2,41 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-import threading
+from libcpp.vector cimport vector
 
-cdef extern from "selfdrive/common/params.h":
+cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_PANDA_DISCONNECT
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
+    DEVELOPMENT_ONLY
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
-    bool getBool(string) nogil
+    bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
+    float getFloat(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
+    void putNonBlocking(string, string) nogil
+    void putBoolNonBlocking(string, bool) nogil
+    void putIntNonBlocking(string, int) nogil
+    void putFloatNonBlocking(string, float) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
+    int putFloat(string, float) nogil
     bool checkKey(string) nogil
+    string getParamPath(string) nogil
     void clearAll(ParamKeyType)
+    vector[string] allKeys()
+    ParamKeyType getKeyType(string) nogil
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass
@@ -66,18 +77,32 @@ cdef class Params:
 
     return val if encoding is None else val.decode(encoding)
 
-  def get_bool(self, key):
+  def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
     cdef bool r
     with nogil:
-      r = self.p.getBool(k)
+      r = self.p.getBool(k, block)
+    return r
+
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
+  def get_float(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef float r
+    with nogil:
+      r = self.p.getFloat(k, block)
     return r
 
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking helper function in time sensitive code, but
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
@@ -90,17 +115,49 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
-  def delete(self, key):
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
+  def put_float(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloat(k, val)
+
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)
+
+  def put_int_nonblocking(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putIntNonBlocking(k, val)
+
+  def put_float_nonblocking(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloatNonBlocking(k, val)
+
+  def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
       self.p.remove(k)
 
-def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
+  def get_param_path(self, key=""):
+    cdef string key_bytes = ensure_bytes(key)
+    return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+  def all_keys(self):
+    return self.p.allKeys()
+
+  def get_key_type(self, key):
+    cdef string k = self.check_key(key)
+    return self.p.getKeyType(k)

common/prefix.py

@@ -0,0 +1,53 @@
+import os
+import shutil
+import uuid
+
+
+from openpilot.common.params import Params
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+
+class OpenpilotPrefix:
+  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
+    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.clean_dirs_on_exit = clean_dirs_on_exit
+    self.shared_download_cache = shared_download_cache
+
+  def __enter__(self):
+    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
+    os.environ['OPENPILOT_PREFIX'] = self.prefix
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.shared_download_cache:
+      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
+    return self
+
+  def __exit__(self, exc_type, exc_obj, exc_tb):
+    if self.clean_dirs_on_exit:
+      self.clean_dirs()
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+      if self.original_prefix is not None:
+        os.environ['OPENPILOT_PREFIX'] = self.original_prefix
+    except KeyError:
+      pass
+    return False
+
+  def clean_dirs(self):
+    symlink_path = Params().get_param_path()
+    if os.path.exists(symlink_path):
+      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
+      os.remove(symlink_path)
+    shutil.rmtree(self.msgq_path, ignore_errors=True)
+    if PC:
+      shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    if not os.environ.get("COMMA_CACHE", False):
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/profiler.py

@@ -1,45 +0,0 @@
-import time
-
-class Profiler():
-  def __init__(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-    self.tot = 0.
-
-  def reset(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-
-  def checkpoint(self, name, ignore=False):
-    # ignore flag needed when benchmarking threads with ratekeeper
-    if not self.enabled:
-      return
-    tt = time.time()
-    if name not in self.cp:
-      self.cp[name] = 0.
-      if ignore:
-        self.cp_ignored.append(name)
-    self.cp[name] += tt - self.last_time
-    if not ignore:
-      self.tot += tt - self.last_time
-    self.last_time = tt
-
-  def display(self):
-    if not self.enabled:
-      return
-    self.iter += 1
-    print("******* Profiling %d *******" % self.iter)
-    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
-      if n in self.cp_ignored:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-      else:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))

common/realtime.py

@@ -2,23 +2,18 @@
 import gc
 import os
 import time
-import multiprocessing
-from typing import Optional
+from collections import deque
 
-from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC, TICI
+from setproctitle import getproctitle
+
+from openpilot.system.hardware import PC
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
-
-# driver monitoring
-if TICI:
-  DT_DMON = 0.05
-else:
-  DT_DMON = 0.1
+DT_HW = 0.5  # hardwared and manager
+DT_DMON = 0.05  # driver monitoring
 
 
 class Priority:
@@ -28,35 +23,38 @@ class Priority:
   CTRL_LOW = 51 # plannerd & radard
 
   # CORE 3
-  # - boardd = 55
+  # - pandad = 55
   CTRL_HIGH = 53
 
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
 
 
-def set_core_affinity(core: int) -> None:
+def set_core_affinity(cores: list[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, [core,])
+    os.sched_setaffinity(0, cores)
 
 
-def config_realtime_process(core: int, priority: int) -> None:
+def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
-  set_core_affinity(core)
+  c = cores if isinstance(cores, list) else [cores, ]
+  set_core_affinity(c)
 
 
 class Ratekeeper:
-  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: float | None = 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._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._process_name = multiprocessing.current_process().name
+    self._process_name = getproctitle()
+    self._dts = deque([self._interval], maxlen=100)
+    self._last_monitor_time = time.monotonic()
 
   @property
   def frame(self) -> int:
@@ -66,6 +64,12 @@ class Ratekeeper:
   def remaining(self) -> float:
     return self._remaining
 
+  @property
+  def lagging(self) -> bool:
+    avg_dt = sum(self._dts) / len(self._dts)
+    expected_dt = self._interval * (1 / 0.9)
+    return avg_dt > expected_dt
+
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
     lagged = self.monitor_time()
@@ -73,13 +77,17 @@ class Ratekeeper:
       time.sleep(self._remaining)
     return lagged
 
-  # this only monitor the cumulative lag, but does not enforce a rate
+  # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    prev = self._last_monitor_time
+    self._last_monitor_time = time.monotonic()
+    self._dts.append(self._last_monitor_time - prev)
+
     lagged = False
-    remaining = self._next_frame_time - sec_since_boot()
+    remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/retry.py

@@ -0,0 +1,30 @@
+import time
+import functools
+
+from openpilot.common.swaglog import cloudlog
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          cloudlog.exception(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        cloudlog.error(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator
+
+
+if __name__ == "__main__":
+  @retry(attempts=10)
+  def abc():
+    raise ValueError("abc failed :(")
+  abc()

common/run.py

@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+

common/simple_kalman.py

@@ -0,0 +1,54 @@
+import numpy as np
+
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  def set_x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/spinner.py

@@ -1,9 +1,9 @@
 import os
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
-class Spinner():
+class Spinner:
   def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],
@@ -24,16 +24,16 @@ class Spinner():
       except BrokenPipeError:
         pass
 
-  def update_progress(self, cur: int, total: int):
+  def update_progress(self, cur: float, total: float):
     self.update(str(round(100 * cur / total)))
 
   def close(self):
     if self.spinner_proc is not None:
+      self.spinner_proc.kill()
       try:
-        self.spinner_proc.stdin.close()
-      except BrokenPipeError:
-        pass
-      self.spinner_proc.terminate()
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
       self.spinner_proc = None
 
   def __del__(self):

common/stat_live.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-class RunningStat():
+class RunningStat:
   # tracks realtime mean and standard deviation without storing any data
   def __init__(self, priors=None, max_trackable=-1):
     self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
   def params_to_save(self):
     return [self.M, self.S, self.n]
 
-class RunningStatFilter():
+class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)

common/swaglog.py

@@ -1,22 +1,19 @@
 import logging
 import os
 import time
+import warnings
 from pathlib import Path
 from logging.handlers import BaseRotatingHandler
 
 import zmq
 
-from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from selfdrive.hardware import PC
+from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
+from openpilot.system.hardware.hw import Paths
 
-if PC:
-  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
-else:
-  SWAGLOG_DIR = "/data/log/"
 
 def get_file_handler():
-  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
-  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(Paths.swaglog_root(), "swaglog")
   handler = SwaglogRotatingFileHandler(base_filename)
   return handler
 
@@ -72,15 +69,29 @@ class UnixDomainSocketHandler(logging.Handler):
     self.setFormatter(formatter)
     self.pid = None
 
+    self.zctx = None
+    self.sock = None
+
+  def __del__(self):
+    self.close()
+
+  def close(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
   def connect(self):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect("ipc:///tmp/logmessage")
+    self.sock.connect(Paths.swaglog_ipc())
     self.pid = os.getpid()
 
   def emit(self, record):
     if os.getpid() != self.pid:
+      # TODO suppresses warning about forking proc with zmq socket, fix root cause
+      warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*<zmq.*>")
       self.connect()
 
     msg = self.format(record).rstrip('\n')
@@ -117,6 +128,8 @@ elif print_level == 'info':
 elif print_level == 'warning':
   outhandler.setLevel(logging.WARNING)
 
+ipchandler = UnixDomainSocketHandler(SwagFormatter(log))
+
 log.addHandler(outhandler)
 # logs are sent through IPC before writing to disk to prevent disk I/O blocking
-log.addHandler(UnixDomainSocketHandler(SwagFormatter(log)))
+log.addHandler(ipchandler)

common/text_window.py

@@ -2,7 +2,7 @@
 import os
 import time
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class TextWindow:

common/time.py

@@ -0,0 +1,15 @@
+import datetime
+from pathlib import Path
+
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE
+
+def system_time_valid():
+  return datetime.datetime.now() > min_date()

common/timeout.py

@@ -12,7 +12,7 @@ class Timeout:
   """
   def __init__(self, seconds, error_msg=None):
     if error_msg is None:
-      error_msg = 'Timed out after {} seconds'.format(seconds)
+      error_msg = f'Timed out after {seconds} seconds'
     self.seconds = seconds
     self.error_msg = error_msg
 

common/transformations/.gitignore

@@ -0,0 +1,2 @@
+transformations
+transformations.cpp

common/transformations/README.md

@@ -0,0 +1,70 @@
+
+Reference Frames
+------
+Many reference frames are used throughout. This
+folder contains all helper functions needed to
+transform between them. Generally this is done
+by generating a rotation matrix and multiplying.
+
+
+| Name | [x, y, z] | Units | Notes |
+| :-------------: |:-------------:| :-----:| :----: |
+| Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. |
+| ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83. <br> This is the global Mesh3D frame. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. |
+| Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame. <br> Relative to camera, **not imu.** <br> ![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)|
+| Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in. <br> More details below. <br>|
+| Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road. <br> More details below. <br>|
+| View | [Right, Down, Forward] | meters | Like device frame, but according to camera conventions. |
+| Camera | [u, v, focal] | pixels | Like view frame, but 2d on the camera image.|
+| Normalized Camera | [u / focal, v / focal, 1] | / | |
+| Model | [u, v, focal] | pixels | The sampled rectangle of the full camera frame the model uses. |
+| Normalized Model | [u / focal, v / focal, 1] | / | |
+
+
+
+
+Orientation Conventions
+------
+Quaternions, rotation matrices and euler angles are three
+equivalent representations of orientation and all three are
+used throughout the code base.
+
+For euler angles the preferred convention is [roll, pitch, yaw]
+which corresponds to rotations around the [x, y, z] axes. All
+euler angles should always be in radians or radians/s unless
+for plotting or display purposes. For quaternions the hamilton
+notations is preferred which is [q<sub>w</sub>, q<sub>x</sub>, q<sub>y</sub>, q<sub>z</sub>]. All quaternions
+should always be normalized with a strictly positive q<sub>w</sub>. **These
+quaternions are a unique representation of orientation whereas euler angles
+or rotation matrices are not.**
+
+To rotate from one frame into another with euler angles the
+convention is to rotate around roll, then pitch and then yaw,
+while rotating around the rotated axes, not the original axes.
+
+
+Car frame
+------
+Device frame is aligned with the road-facing camera used by openpilot. However, when controlling the vehicle it is helpful to think in a reference frame aligned with the vehicle. These two reference frames can be different.
+
+The orientation of car frame is defined to be aligned with the car's direction of travel and the road plane when the vehicle is driving on a flat road and not turning. The origin of car frame is defined to be directly below device frame (in car frame), such that it is on the road plane. The position and orientation of this frame is not necessarily always aligned with the direction of travel or the road plane due to suspension movements and other effects.
+
+
+Calibrated frame
+------
+It is helpful for openpilot's driving model to take in images that look similar when mounted differently in different cars. To achieve this we "calibrate" the images by transforming it into calibrated frame. Calibrated frame is defined to be aligned with car frame in pitch and yaw, and aligned with device frame in roll. It also has the same origin as device frame.
+
+
+Example
+------
+To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
+first position and orientation from Mesh3D one would do:
+```
+ecef_from_local = rot_from_quat(quats_ecef[0])
+local_from_ecef = ecef_from_local.T
+positions_local = np.einsum('ij,kj->ki', local_from_ecef, postions_ecef - positions_ecef[0])
+rotations_global = rot_from_quat(quats_ecef)
+rotations_local = np.einsum('ij,kjl->kil', local_from_ecef, rotations_global)
+eulers_local = euler_from_rot(rotations_local)
+```

common/transformations/SConscript

@@ -1,6 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-Export('transformations')
-
-envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/camera.py

@@ -1,61 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass
 
-import common.transformations.orientation as orient
-from selfdrive.hardware import TICI
+import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-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
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
 
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
+  @property
+  def size(self):
+    return (self.width, self.height)
 
-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/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],
-  [0.0,  0.0,                                          1.0]])
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)
 
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0
 
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
 
-tici_ecam_intrinsics = tici_dcam_intrinsics
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)
 
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
 
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,
 
-if not TICI:
-  FULL_FRAME_SIZE = eon_f_frame_size
-  FOCAL = eon_f_focal_length
-  fcam_intrinsics = eon_fcam_intrinsics
-else:
-  FULL_FRAME_SIZE = tici_f_frame_size
-  FOCAL = tici_f_focal_length
-  fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,
 
+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
 
 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -67,14 +80,6 @@ device_frame_from_view_frame = np.array([
 view_frame_from_device_frame = device_frame_from_view_frame.T
 
 
-def get_calib_from_vp(vp):
-  vp_norm = normalize(vp)
-  yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  roll_calib = 0
-  return roll_calib, pitch_calib, yaw_calib
-
-
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -83,6 +88,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
   device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -100,19 +106,13 @@ def vp_from_ke(m):
   return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
@@ -125,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
@@ -133,13 +133,23 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
   img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  if np.isfinite(width):
+    img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  if np.isfinite(height):
+    img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
+def get_calib_from_vp(vp, intrinsics):
+  vp_norm = normalize(vp, intrinsics)
+  yaw_calib = np.arctan(vp_norm[0])
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  roll_calib = 0
+  return roll_calib, pitch_calib, yaw_calib
+
+
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
   # device frame is x -> forward, y-> right, z -> down
@@ -167,11 +177,3 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
 
-
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
-  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
-  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
-  return camera_frame_from_calib_frame

common/transformations/coordinates.cc

@@ -1,102 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-#include "coordinates.hpp"
-
-
-
-double a = 6378137; // lgtm [cpp/short-global-name]
-double b = 6356752.3142; // lgtm [cpp/short-global-name]
-double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
-double e1sq = 6.73949674228 * 0.001;
-
-
-static Geodetic to_degrees(Geodetic geodetic){
-  geodetic.lat = RAD2DEG(geodetic.lat);
-  geodetic.lon = RAD2DEG(geodetic.lon);
-  return geodetic;
-}
-
-static Geodetic to_radians(Geodetic geodetic){
-  geodetic.lat = DEG2RAD(geodetic.lat);
-  geodetic.lon = DEG2RAD(geodetic.lon);
-  return geodetic;
-}
-
-
-ECEF geodetic2ecef(Geodetic g){
-  g = to_radians(g);
-  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
-  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
-  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
-  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
-  return {x, y, z};
-}
-
-Geodetic ecef2geodetic(ECEF e){
-  // Convert from ECEF to geodetic using Ferrari's methods
-  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  double x = e.x;
-  double y = e.y;
-  double z = e.z;
-
-  double r = sqrt(x * x + y * y);
-  double Esq = a * a - b * b;
-  double F = 54 * b * b * z * z;
-  double G = r * r + (1 - esq) * z * z - esq * Esq;
-  double C = (esq * esq * F * r * r) / (pow(G, 3));
-  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
-  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
-  double Q = sqrt(1 + 2 * esq * esq * P);
-  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
-  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
-  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
-  double Z_0 = b * b * z / (a * V);
-  double h = U * (1 - b * b / (a * V));
-
-  double lat = atan((z + e1sq * Z_0) / r);
-  double lon = atan2(y, x);
-
-  return to_degrees({lat, lon, h});
-}
-
-LocalCoord::LocalCoord(Geodetic g, ECEF e){
-  init_ecef <<  e.x, e.y, e.z;
-
-  g = to_radians(g);
-
-  ned2ecef_matrix <<
-    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
-    cos(g.lat), 0, -sin(g.lat);
-  ecef2ned_matrix = ned2ecef_matrix.transpose();
-}
-
-NED LocalCoord::ecef2ned(ECEF e) {
-  Eigen::Vector3d ecef;
-  ecef << e.x, e.y, e.z;
-
-  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
-  return {ned[0], ned[1], ned[2]};
-}
-
-ECEF LocalCoord::ned2ecef(NED n) {
-  Eigen::Vector3d ned;
-  ned << n.n, n.e, n.d;
-
-  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
-  return {ecef[0], ecef[1], ecef[2]};
-}
-
-NED LocalCoord::geodetic2ned(Geodetic g) {
-  ECEF e = ::geodetic2ecef(g);
-  return ecef2ned(e);
-}
-
-Geodetic LocalCoord::ned2geodetic(NED n){
-  ECEF e = ned2ecef(n);
-  return ::ecef2geodetic(e);
-}

common/transformations/coordinates.hpp

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
+
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 #define RAD2DEG(x) ((x) * 180.0 / M_PI)