dragonpilot v2022.07.29 for EON/C2

2026-06-19 21:12:04 +08:00 · 2022-07-29 03:51:32 +00:00
3536 changed files with 310725 additions and 1262559 deletions
@@ -1,19 +0,0 @@
---
-Checks: '
-bugprone-*,
-bugprone-integer-division,
-bugprone-narrowing-conversions,
-performance-*,
-clang-analyzer-*,
-misc-*,
-misc-unused-parameters,
-modernize-*,
-modernize-avoid-c-arrays,
-modernize-deprecated-headers,
-modernize-use-auto,
-modernize-use-using,
-modernize-use-nullptr,
-modernize-use-trailing-return-type,
-'
-CheckOptions:
-...
@@ -1,39 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-*.so
-*.a
-
-venv/
-.venv/
-
-notebooks
-phone
-massivemap
-neos
-installer
-chffr/app2
-chffr/backend/env
-selfdrive/nav
-selfdrive/baseui
-selfdrive/test/simulator2
-**/cache_data
-xx/plus
-xx/community
-xx/projects
-!xx/projects/eon_testing_master
-!xx/projects/map3d
-xx/ops
-xx/junk
@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-trim_trailing_whitespace = true
-
-[*.{py,pyx,pxd}]
-charset = utf-8
-indent_style = space
-indent_size = 2
@@ -1,47 +0,0 @@
-name: Bug report
-description: For issues with running openpilot on your comma device
-labels: ["bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
-          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-
@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki
@@ -1,8 +0,0 @@
---
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
---
-
@@ -1,42 +0,0 @@
-name: PC bug report
-description: For issues with running openpilot on PC
-labels: ["PC"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: os-version
-    attributes:
-      label: OS Version
-      placeholder: Ubuntu 24.04
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version or commit
-      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Additional info
-
@@ -1,27 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
-->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
-->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
-->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
-->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
-->
-
@@ -1,6 +1,4 @@
 venv/
-.venv/
-.ci_cache
 .env
 .clang-format
 .DS_Store
@@ -10,14 +8,11 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
 model2.png
 a.out
 .hypothesis
-.cache/

-/docs_site/
-
-*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -37,28 +32,35 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.qm
-*_pyx.cpp
 config.json
 clcache
 compile_commands.json
-compare_runtime*.html

 persist
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/translations/tmp
+selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/car/tests/cars_dump
+selfdrive/visiond/visiond
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/

+one
+/body/
+openpilot
 notebooks
+xx
+yy
 hyperthneed
+panda_jungle
 provisioning

 .coverage*
@@ -72,33 +74,13 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

-selfdrive/modeld/models/*.pkl
+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed

 *.bz2
-*.zst

 build/

 !**/.gitkeep

-poetry.toml
-Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
+*.po~
@@ -1,11 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-    "JamiTech.simply-blame",
-    "k--kato.intellij-idea-keybindings",
-    "trinm1709.dracula-theme-from-intellij"
-  ]
-}
@@ -1,46 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
-    }
-  ]
-}
@@ -1,42 +0,0 @@
-{
-  "editor.tabSize": 2,
-  "editor.insertSpaces": true,
-  "editor.renderWhitespace": "trailing",
-  "files.trimTrailingWhitespace": true,
-  "terminal.integrated.defaultProfile.linux": "dragonpilot",
-  "terminal.integrated.profiles.linux": {
-    "dragonpilot": {
-      "path": "bash",
-      "args": ["-c", "distrobox enter dp"]
-    }
-  },
-  "search.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true,
-    "msgq_repo/": true,
-    "opendbc/": true,
-    "rednose/": true,
-    "rednose_repo/": true,
-    "openpilot/": true,
-    "teleoprtc_repo/": true,
-    "tinygrad/": true,
-    "tinygrad_repo/": true
-  },
-  "files.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "python.analysis.exclude": [
-    "**/.git",
-    "**/.venv",
-    "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
-  ]
-}
@@ -1,75 +0,0 @@
-```mermaid
-flowchart TD
-    B000["devel-staging"] ---> CORE["core"]
-    CORE ---> CORE_001["core-feat/params"]
-    CORE_001 ---> CORE_002["core-feat/panel"]
-    CORE_002 ---> CORE_003["core-feat/spin-box-ctrl"]
-    CORE_003 ---> MIN["min"]
-    MIN ---> MIN_001["min-feat/dev/o3"]
-    MIN ---> MIN_002["min-feat/lat/alka"]
-    MIN ---> MIN_003["min-feat/ui/display-mode"]
-    MIN ---> MIN_004["min-feat/dev/model-selector"]
-    MIN ---> MIN_005["min-feat/lat/lca"]
-    MIN ---> MIN_006["min-feat/dev/on-off-road"]
-    MIN ---> MIN_007["min-feat/ui/hide-hud"]
-    MIN ---> MIN_008["min-feat/lon/ext-radar"]
-    MIN ---> MIN_009["min-feat/lat/road-edge-detection"]
-    MIN ---> MIN_010["min-feat/ui/rainbow-path"]
-    MIN ---> MIN_011["min-feat/lon/acm"]
-    MIN ---> MIN_012["min-feat/lon/aem"]
-    MIN ---> MIN_013["min-feat/dev/alert-mode"]
-    MIN ---> MIN_014["min-feat/dev/auto-shutdown"]
-    MIN ---> MIN_015["min-feat/ui/radar-tracks"]
-    MIN ---> MIN_016["min-feat/ui/border-indicator"]
-    MIN ---> MIN_017["min-feat/dev/dashy"]
-    MIN ---> MIN_018["min-feat/dev/delay-loggerd"]
-    MIN_001 ---> FULL["full"]
-    MIN_002 ---> FULL
-    MIN_003 ---> FULL
-    MIN_004 ---> FULL
-    MIN_005 ---> FULL
-    MIN_006 ---> FULL
-    MIN_007 ---> FULL
-    MIN_008 ---> FULL
-    MIN_009 ---> FULL
-    MIN_010 ---> FULL
-    MIN_011 ---> FULL
-    MIN_012 ---> FULL
-    MIN_013 ---> FULL
-    MIN_014 ---> FULL
-    MIN_015 ---> FULL
-    MIN_016 ---> FULL
-    MIN_017 ---> FULL
-    MIN_018 ---> FULL
-    FULL ---> TOYOTA_001[brand/toyota/door-auto-lock-unlock]
-    FULL ---> TOYOTA_002[brand/toyota/tss1-sng]
-    FULL ---> TOYOTA_003[brand/toyota/long-filter-common]
-    FULL ---> TOYOTA_004[brand/toyota/radar-filter]
-    FULL ---> TOYOTA_005[brand/toyota/sdsu]
-    FULL ---> TOYOTA_006[brand/toyota/zss]
-    FULL ---> TOYOTA_007[brand/toyota/stock-lon]
-    FULL ---> VAG_001[brand/vag/a0-sng]
-    FULL ---> VAG_002[brand/vag/pq-steering-patch]
-    FULL ---> VAG_003[brand/vag/pq-no-dashcam]
-    FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
-    FULL ---> HKG_001[brand/hkg/smdps]
-    TOYOTA_001 ---> TOYOTA[pre-toyota]
-    TOYOTA_002 ---> TOYOTA
-    TOYOTA_003 ---> TOYOTA
-    TOYOTA_004 ---> TOYOTA
-    TOYOTA_005 ---> TOYOTA
-    TOYOTA_006 ---> TOYOTA
-    TOYOTA_007 ---> TOYOTA
-    VAG_001 ---> VAG[pre-vag]
-    VAG_002 ---> VAG
-    VAG_003 ---> VAG
-    VAG_004 ---> VAG
-    HKG_001 ---> HKG[pre-hkg]
-    TOYOTA ---> PRE[pre]
-    VAG ---> PRE
-    HKG ---> PRE
-    PRE ---> PRE_PATCH[pre-patch]
-    PRE_PATCH ---> PRE_001[pre-build]
-    PRE_001 ---> PRERELEASE[pre-release]
-    PRERELEASE ---> RELEASE[x.x.x]
-```
@@ -1,703 +1,4 @@
-dragonpilot 0.10.0 r1 (2025-09-05)
-=======================
-* ✨ openpilot 0.10.0 (devel-staging) (2025-08-06)
-* ✨ MISC: Delay Starting Loggerd (2025-06-30)
-* ✨ MISC: Dashy - Dragonpilot's All-in-one System Hub for You. (2025-09-05)
-* 🔄 LON: Ext Radar Support - Better filters (2025-06-30)
-* ✅ UI: Border Indicators (2025-05-27)
-* ✅ UI: Display Radar Tracks (2025-05-14)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ❌ ~~MISC: FileServ - Quick Access QR Code (2025-06-18)~~
-* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
-* ✅ MISC: Auto Shutdown (2025-04-28)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.9 r1 (2025-06-20)
-=======================
-* ✨ openpilot 0.9.9 (2025-06-05)
-* ✨ Various Bugfixes / Improvements (2025-06-18)
-* ✅ UI: Border Indicators (2025-05-27)
-* ✅ UI: Display Radar Tracks (2025-05-14)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: FileServ (port 5000) (2025-05-28)
-* ✅ MISC: Auto Shutdown (2025-04-28)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r10 (2025-06-09)
-=======================
-* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ Various Bugfixes / Improvement (2025-05-27)
-* ✨ UI: Border Indicators (2025-05-27)
-* ✨ MISC: FileServ (offroad, port 5000) (2025-05-28)
-* ✅ UI: Display Radar Tracks (2025-05-14)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Auto Shutdown (2025-04-28)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r9 (2025-05-17)
-=======================
-* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ Various Bugfixes / Improvement (2025-05-17)
-* ✨ UI: Display Radar Tracks (2025-05-14)
-* ✨ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Auto Shutdown (2025-04-28)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r8 (2025-05-10)
-=======================
-* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ MISC: Auto Shutdown (2025-04-28)
-* ✨ Various Bugfixes / Performance Improvement (2025-04-22)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r7 (2025-04-20)
-=======================
-* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ Various Bugfixes / Performance Improvement (2025-04-18)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r6 (2025-04-18)
-=======================
-* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
-* ✨ MISC: Increase Max Speed Allowed (2025-04-18)
-* ✨ Various Bugfixes / Performance Improvement (2025-04-18)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Auto Lane Change (2025-04-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Audible Alert Mode (2025-04-17)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-* ✅ HKG: SMDPS Support (2025-04-17)
-
-dragonpilot 0.9.8 r5 (2025-04-17)
-=======================
-* ✨ openpilot 0.9.8 w/ hotfixes (2025-04-17)
-* ✨ VAG: Avoid EPS Lockout Toggle (2025-04-17)
-* ✨ HKG: SMDPS Support (2025-04-17)
-* ✨ LAT: Auto Lane Change (2025-04-14)
-* ✨ MISC: Audible Alert Mode (2025-04-17)
-* ✨ Various Bugfixes / Performance Improvement (2025-04-12)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Error Logs Btn (2025-04-08)
-* ✅ MISC: Reset Conf Btn (2025-04-08)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-
-dragonpilot 0.9.8 r4 (2025-04-08)
-=======================
-* ✨ openpilot 0.9.8 w/ hotfixes (2025-04-08)
-* ✨ MISC: Error Logs Btn (2025-04-08)
-* ✨ MISC: Reset Conf Btn (2025-04-08)
-* ✨ VAG: Remove Dashcam for VAG PQ (2025-04-06)
-* ✨ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-
-dragonpilot 0.9.8 r3 (2025-04-07)
-=======================
-* ✅ openpilot 0.9.8 devel-staging (2025-03-19)
-* ✨ MISC: Remove Dashcam (2025-04-06)
-* ✨ 🚧 LON: Adaptive Coasting Mode (ADM) (2025-04-06)
-* ✅ UI: Rainbow Path (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: PQ Steering Patch (2025-04-02)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-
-dragonpilot 0.9.8 r2 (2025-04-03)
-=======================
-* ✅ openpilot 0.9.8 devel-staging (2025-03-19)
-* ✨ UI: Rainbow Path (2025-04-02)
-* ✨ VAG: PQ Steering Patch (2025-04-02)
-* ✅ UI: Speed Based HUD (2025-04-01)
-* ✅ UI: Display Mode (2025-03-14)
-* ✅ LAT: Road Edge Detection (2025-04-01)
-* ✅ LAT: LCA Speed Changer (2025-03-21)
-* ✅ LAT: ALKA (2025-03-14)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Model Selector (2025-03-14)
-* ✅ Toyota: Stock Lon Mode (2025-04-01)
-* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✅ Toyota: Radar Filter (2025-03-14)
-* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✅ Toyota: SDSU Support (2025-03-14)
-* ✅ Toyota: ZSS Support (2025-03-14)
-* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
-
-dragonpilot 0.9.8 r1 (2025-04-01)
-=======================
-* ✨ openpilot 0.9.8 devel-staging (2025-03-19)
-* ✨ UI: Speed Based HUD (2025-04-01)
-* ✨ UI: Display Mode (2025-03-14)
-* ✨ LAT: Road Edge Detection (2025-04-01)
-* ✨ LAT: LCA Speed Changer (2025-03-21)
-* ✨ LAT: ALKA (2025-03-14)
-* ✨ LON: Ext Radar Support (2025-03-31)
-* ✨ MISC: Model Selector (2025-03-14)
-* ✨ Toyota: Stock Lon Mode (2025-04-01)
-* ✨ Toyota: Door Auto Lock/Unlock (2025-03-14)
-* ✨ Toyota: Radar Filter (2025-03-14)
-* ✨ Toyota: TSS1 SnG Mod (2025-03-14)
-* ✨ Toyota: SDSU Support (2025-03-14)
-* ✨ Toyota: ZSS Support (2025-03-14)
-* ✨ VAG: MQB A0 SnG Mod (2025-03-20)
-
-dragonpilot beta3 0.9.8 (2024-08-20)
-=======================
-* Up to comma.ai openpilot master branch commit 7ee9d2d1b93abb3ccba53f9552b716d3a11c2b6d (2024-07-31)
-* DP HIGHLIGHT:
-    * [NEW] Disable Auto Update Toggle (Software Panel)
-    * [UPDATE] Flight Panel
-        * Performance improvement
-        * Removed shade
-        * Use green + yellow colour scheme
-        * Moved below road name
-        * Less elements on the screen
-        * Rotate compass instead of the indicator
-    * [UPDATE] Rainbow Path
-        * Performance improvement
-    * [UPDATE] TeToo
-        * Updated Taiwan Speed Camera Database (2024-07-11)
-    * [UPDATE] Personalized Accel Learner (PAL)
-        * Adjusted learning freq
-        * Save learnt values every minute
-    * [UPDATE] Dynamic End-to-End Controller
-        * DANGEOROUS_TTC reduce to 1.2s to rely on ACC mode more.
-　　
-dragonpilot beta3 [2024.07.13]
-=======================
-* Up to comma.ai openpilot master branch commit 01c2174d5968266b87f1d1fecefce5affaeaa624 (2024-07-02)
-* DP HIGHLIGHT:
-    * [NEW] [TESTING] Tē-Tôo / Map Module
-        * Road Name Display (Online using OSM)
-        * Speed Camera Warning (Online using OSM: Untested)
-        * Speed Camera Warning (Taiwan, Offline)
-    * Dynamic End-to-End w/ Toggleable Road Condition Detection.
-    * Device Auto Shutdown Toggle.
-    * Device Audible Alert Mode Toggle.
-
-dragonpilot beta3 [2024.07.01]
-=======================
-* Up to comma.ai openpilot master branch commit 442e9f4ae492901a5698b3188741c97c053026c4 (2024-06-21)
-* DP HIGHLIGHT:
-    * Restart from scratch.
-
-dragonpilot beta3 [2024.02.13]
-=======================
-* Comma 0.9.6 release
-    * New driving model (Los Angles V2)
-        * Vision model trained on more data
-        * Improved driving performance
-        * Directly outputs curvature for lateral control
-    * New driver monitoring model
-        * Trained on larger dataset
-    * AGNOS 9 (9.6)
-    * comma body streaming and controls over WebRTC
-    * Improved fuzzy fingerprinting for many makes and models
-    * Hyundai Staria 2023 support thanks to sunnyhaibin!
-    * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-    * Toyota RAV4 2023-24 support
-    * Toyota RAV4 Hybrid 2023-24 support
-* DP HIGHLIGHT:
-    * TSS2 long, Dynamic Follow and Accel profile tune has been updated.
-    * New version of dynamic e2e with twice and fast detection.
-        * De2e will now slow down for upcoming turns when using NOO.
-    * Auto lane change assist (USE IT AT YOUR OWN RISK).
-    * Optimized/Refactored NOO Voice Guidence.
-    * Re-added: Rainbow road path.
-    * Re-added: Full screen Nav.
-    * Re-added: Toyota Low Speed Override.
-    * Bug fixes and improvements.
-
-dragonpilot beta3 [2023.12.23]
-=======================
-* Comma 0.9.6 release
-    * New driving model (Blue Diamond).
-    * Vision model trained on more data
-    * Improved driving performance
-    * AGNOS 9
-    * comma body streaming and controls over WebRTC
-    * Hyundai Staria 2023 support thanks to sunnyhaibin!
-    * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-    * Toyota RAV4 2023 support
-    * Toyota RAV4 Hybrid 2023 support
-* DP HIGHLIGHT:
-    * Flight Panel (compass, height, pitch).
-    * Model Confidence indicator (in the max speed box).
-    * New version of dynamic e2e controller with better detection logic.
-    * Adjustable lane change speed (default 20mph, OFF = no control during lane change)
-    * TSS2 long, Dynamic Follow and Accel profile tune has been updated.
-    * Re-added: Full Screen Nav, Lane Priority Mode and Vision Turn Controller.
-    * Remove Frogai Agressive take off and re-add improved krkeegen sng boot.
-
-dragonpilot beta3 [2023.11.20]
-=======================
-* Comma 0.9.5 release
-    * New driving model (Farm Ville)
-        * 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, alamo3, and sshane!
-    * 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 Sorento Hybrid 2023 support thanks to sunnyhaibin!
-    * Kia Optima Hybrid 2019 support
-    * Lexus IS 2023 support thanks to L3R5!
-* DP HIGHLIGHT:
-    * Otisserv Improvement/bug fixes. You can now see your car 12v battery on the main page. (https://dragonpilot.org)
-    * UI/UX Improvement.
-    * TSS2 updated long tune.
-    * Added Smooth braking and Aggressive take off Thanks to @FrogAi.
-    * Added Toggle to Disable uploads onroad.
-    * Remove Lane Priority Mode.
-
-
-dragonpilot beta3 [2023.10.20]
-=======================
-* openpilot master branch on 2023.10.20.
-* Otisserv improvement/bug fixes.
-* TSS2 updated long tune.
-* @krkeegan SNG boost tune.
-
-dragonpilot beta3 [2023-10-09]
-=======================
-* openpilot master branch on 2023.07.21.
-* Comma 0.9.3 release
-* Night Strike Model
-    * Improved navigate on openpilot performance using navigation instructions as an additional model input
-* DP HIGHLIGHT:
-    * Always on lateral.
-    * Otisserv with snapshot! Comma Prime Experience https://dragonpilot.org/
-    * Dynamic End-to-End Longitudinal Control
-    * Road Edge Detection
-    * Acceleration profiles
-    * Enhanced BSM for all Toyota/Lexus that is not currently supported by stock openpilot.
-    * Display Mode
-    * Audible Alert Mode
-    * File server
-    * Lane Priority Mode
-    * New minimal UI with on screen button.
-
-dragonpilot [2023.5.12]
-=======================
-* Synced with openpilot master 2023.05.12 commits.
-* comma 0.9.2 release
-    * 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
-* DP Highlight
-    * NEW: Enhance BSM request for car's that op currently does not support. (TESTED ON: Prius TSS1/TSS2, RAV4 TSS1)
-    * NEW: Manual Lane Change.
-    * NEW: Local Trip counter.
-    * TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779
-    * TWEAK: Honda - ODYSSEY_HYBRID tweaks. (@lijunhao731)
-    * TWEAK: Toyota - AVALONH_2019 SNG tweaks. (@南少)
-    * FIXED: Fixed Reverse message not showing issue.
-    * FIXED: Honda - ALKA not working. @loveloveses
-    * FIXED: Display Mode.
-    * FIXED: Toyota - Speed Override.
-
-dragonpilot [2023.3.27]
-=======================
-* Synced with openpilot master 2023.03.26 commits.
-* comma 0.9.2 release
-    * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
-* DP Highlight
-    * Dynamic Rainbow mode. (fancy lol)
-    * Different color when Always On Lateral is enabled.
-    * RoadEdge detection has it's own toggle now.
-    * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-    * NEW: Alternative Lateral Controller
-        * Ability to switch to another lateral controller when SET speed is higher than configure speed.
-        * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
-
-dragonpilot [2023.2.15]
-=======================
-* Synced with openpilot master 2022.12.14 commits.
-* Comma 0.9.1 release
-    * New driving model
-        * 30% improved height estimation resulting in better driving performance for tall cars
-    * UI updates
-        * Adjust alert volume using ambient noise level
-        * Driver monitoring icon shows driver's head pose
-* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
-* NEW: Block ALC if it's close to the road edges.
-* NEW: Rinbow path toggle. (This effect is purely cosmetic)
-* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-* Bug fixes and improvement.
-
-dragonpilot [2023.1.10]
-=======================
-* Synced with openpilot master 2023.1.3 commits.
-* IMPROVEMENT: Dynamic end to end refactored. It will automatically turn on and off for red light for smoother u/x. Now Supports (honda and vw that cab take advantage of VOACC).
-* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-* ADDED: support for Chevrolet Trailblazer 2022 (Thanks @TurboCE)
-* ADDED: support for Honda odyssey hybrid 2022 China (Thanks @lijunhao731)
-* ADDED: GPS accuracy on the sidebar.
-* Bug fixes and improvement.
-
-HOTFIX:
-=======================
-* Allow Experimental Mode in release branch. (@Stupefacient)
-* Happy Holiday / New Years! Safe Travel, cya in 2023!
-
-dragonpilot 2022.12.13
-=======================
-* Synced with openpilot master 2022.12.13 commits.
-* COMMA: New model, Toyota users can now configure SWAY settings.
-* ADDED: Dashcam for comma 3. Store in /data/media/0/video/ (@neokii)
-* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* Improvement: Dynamic end to end is much more reliable and smoother experience
-* Bug fixes and improvement.
-* Happy Holiday / New Years! Safe Travel, cya in 2023!
-
-dragonpilot [2022.11.25]
-=======================
-* Synced with openpilot master 2022.11.25 commits.
-* ADDED: Lateral Controller Selector.
-    - Ability to select between DEFAULT / PID / LQR / Torque Controller.
-* ADDED: Redesigned UI to match Comma's new UI/UX style.
-* ADDED: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
-* ADDED: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* ADDED: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* bug fix and improvement.
-
-dragonpilot [2022.11.14]
-=======================
-* Synced with openpilot master 2022.11.14 commits.
-* COMMA: New Model.
-* COMMA: RAV4 TSS2 now uses PID.
-* REFACTORED: Turning off nav will free up some system resource. QR for nav has been move to home button / sidebar.
-* ADDED: 2 new toggle to turn on or off laneline / path and chevron.
-* ADDED: When reversing it will now show DM cam.
-
-dragonpilot [2022.11.01]
-=======================
-* Synced with openpilot master 2022.11.01 commits.
-* COMMA: New Model.
-* ADDED: Multi Lateral Planner: Ability to choose different Lateral Planner (0 = LATEST, 1 = 0.8.13, 2 = 0.8.16).
-* READD: Toyota Prius ZSS support.
-* Improvement: Better User experience for installing mapd database.
-* Improvement: Turning on Lane Line will automatically will use DLP (Dynamic Lane Profile).
-* bug fix and improvement
-
-dragonpilot [2022.10.26]
-=======================
-* Synced with openpilot master 2022.10.26 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
-* COMMA: New Model with much improved e2e long.
-* ADDED: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
-* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779
-* ADDED: Toggle to bypass dashcam mode for Mazda.
-* Improvement: Dynamic End to End tune.
-* Improvement: Better Optimization for Vision Turn Controller with laneline mode.
-* bug fix and improvement
-
-dragonpilot [2022.10.18]
-=======================
-* Synced with openpilot master 2022.10.18 commits.
-* ADDED: Laneline toggle.
-* ADDED: Turn and BSM indicator. (turn = green, turn + bsm = yellow, bsm = red)
-* Improvement: Dynamic End to End tune.
-* bug fix and improvement
-
-
-dragonpilot [2022.10.04]
-=======================
-* Synced with openpilot master 2022.10.04 commits.
-* ADDED: Dynamic End to End long. For more detail read the setting description.
-* ADDED: Mpad now support's Stop Sign, Yield, Speed Bump, Sharp Curve. (For best experience map you area. https://www.openstreetmap.org/)
-* ADDED: Chevron can display either distance or speed.
-* ADDED: Toggles to force enabling torque control / torque tune for some vehicles
-* Improvement: Dynamic Follow, Toyota Longitudinal and Decel tune.
-* bug fix and improvement
-
-dragonpilot [2022.09.27]
-=======================
-* Synced with openpilot master 2022.09.27 commits.
-* ADDED: Always On Lateral toggle under dp-controls!
-* ADDED: Live torque fix pr#25868
-* ADDED: RAV4 and HIGHLANDER with sdsu can use follow distance button on the wheel.
-* bug fix and improvement
-
-dragonpilot [2022.09.19]
-========================
-* Synced with openpilot master 2022.09.19 commits.
-* READD: refactored dyanmaic follow. support all car with op long.
-* ADDED: PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
-* ADDED: Added a TSS2 RAV4 Special PID Tune toggle.
-* ADDED: Added a PRIUS 2017 Special Torque Tune toggle.
-* ADDED: Toggle to turn on and off Torque controller.
-* ADDED: Toggle to turn on and off auto tune torque controller.
-* ADDED: Vision Turn Controller.
-* bug fix and improvement
-
-dragonpilot [2022.09.09]
-========================
-* Synced with openpilot master 2022.09.09 commits.
-* ADDED: us-west coast can now use mapd without data. See toggle description for more detail.
-* READD: Temp check toggl e, max speed toggle and couple other UI toggles.
-* bug fix and improvement
-
-dragonpilot [2022.09.04]
-========================
-* Synced with openpilot master 2022.09.01 commits.
-* Refactor: Dynamic Follow has been removerd temporary. Needs a refactor. (wip)
-* ADDED: Auto Toyota door lock/unlock **only works on some car**
-* READDED: Camera offset toggle.
-* Improvement: gpxd now uses liveLocationKalman better performance.
-* bug fix and improvement.
-
-dragonpilot [2022.08.07]
-========================
-Synced to openpilot master 2022.08.07 commits.
-NEW: Added back auto shutdown toggle.
-NEW: Added back LQR tune toggle.
-NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-TWEAKED: Panda Recovery should kill boardd process first.
-FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.27
-========================
-NEW: Synced to openpilot 2022.07.27 commits.
-NEW: Included Mazda vehicles.
-TWEAK: Only show road name bar when it's not empty.
-TWEAK: Enlarged lead car distance text.
-TWEAK: TOYOTA - Updated lowest speed override feature.
-FIXED: Fixed Panda Flash/Recovery buttons.
-FIXED: Included dp_patcher.py execution.
-
-dragonpilot [2022.08.07]
-========================
-* Synced to openpilot master 2022.08.07 commits.
-* NEW: Added back auto shutdown toggle.
-* NEW: Added back LQR tune toggle.
-* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-* TWEAKED: Panda Recovery should kill boardd process first.
-* FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.27
+dragonpilot 2022.07.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot 2022.07.27 commits.
 * NEW: Included Mazda vehicles.
@@ -707,6 +8,34 @@ dragonpilot 2022.07.27
 * FIXED: Fixed Panda Flash/Recovery buttons.
 * FIXED: Included dp_patcher.py execution.

+dragonpilot 2022.07.20 - EON/C2 Release
+========================
+* FIXED: Included correct camera/path offset values for EON/C2.
+* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
+* FIXED: Included fan controller for UNO (C2).
+* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
+* TWEAK: Removed sounds unavailable warning.
+* TWEAK: Removed unused loggers.
+* TWEAK: Disabled IR controls completely.
+
+dragonpilot 2022.07.14 - EON/C2 Release
+========================
+* FIXED: DM bug.
+* FIXED: white / grey panda support.
+* FIXED: Removed No GPS signal warning.
+
+dragonpilot 2022.07.12 - EON/C2 Release
+========================
+* Synced up with dragonpilot 2022.06.25 C3 release
+* Running on latest AI model.
+* Steering monitor only.
+* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
+* Buggy!
+
+dragonpilot 2022.06.25
+========================
+* Synced with openpilot master 2022.07.26 commits.
+
 dragonpilot 2022.07.01
 ========================
 * Synced with openpilot master 2022.06.29 commits.
@@ -1242,14 +571,14 @@ dragonpilot 0.7.5.0
 2020-03-27
 ========================
 * [DEVEL] 更新至最新的 testing 分支:
-    * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
-    * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
-    * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
-    * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
-    * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
-    * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
-    * 加入韓文支持。(感謝 crwusiz 提供)
-    * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。

 2020-03-22
 ========================
@@ -1,12 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-RUN scons --cache-readonly -j$(nproc)
@@ -1,81 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -1,30 +0,0 @@
-Copyright (c) 2019, Rick Lan
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, and/or sublicense, 
-for non-commercial purposes only, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in 
-  all copies or substantial portions of the Software.
- Commercial use (e.g. use in a product, service, or activity intended to 
-  generate revenue) is prohibited without explicit written permission from 
-  the copyright holder.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
---
-Copyright (c) 2018, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy 
-of this software and associated documentation files (the "Software"), to deal 
-in the Software without restriction, including without limitation the rights 
-to use, copy, modify, merge, publish, distribute, sublicense, 
-and/or sell copies of the Software, and to permit persons to whom the 
-Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in 
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
@@ -1,89 +1,134 @@
-<div align="center" style="text-align: center;">
+![](https://i.imgur.com/b0ZyIx5.jpg)

-<h1>openpilot</h1>
+Table of Contents
+=======================

-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 300+ supported cars.
-</p>
+* [What is openpilot?](#what-is-openpilot)
+* [Running in a car](#running-on-a-dedicated-device-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)

-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
+---

-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+What is openpilot?
+------

-[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-
-</div>
+[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://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>
+    <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>
  </tr>
 </table>


-Using openpilot in a car
+Running on a dedicated device in a car
 ------

-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+To use openpilot in a car, you need four things
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
+* 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 [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.

-We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

-### Branches
-| branch           | URL                                    | description                                                                         |
-|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
-| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
-| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
-| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
-| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |
-
-To start developing openpilot
+Running on PC
 ------

-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).
+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.

-* Join the [community Discord](https://discord.comma.ai)
-* Check out [the contributing docs](docs/CONTRIBUTING.md)
-* Check out the [openpilot tools](tools/)
-* Code documentation lives at https://docs.comma.ai
-* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+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.

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+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.
+
+A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
+
+Community and Contributing
+------
+
+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).
+
+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).
+
+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.
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+User Data and comma Account
+------
+
+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.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+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.
+
+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](https://en.wikipedia.org/wiki/ISO_26262) 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.
+* 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).
+* 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.

-<details>
-<summary>MIT Licensed</summary>
+Directory Structure
+------
+    .
+    ├── 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
+    └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
+        ├── logcatd         # systemd journal as a service
+        └── proclogd        # Logs information from /proc
+    └── 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
+        ├── car             # Car specific code to read states and control actuators
+        ├── controls        # Planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Deamon that starts/stops all other daemons as needed
+        ├── modeld          # Driving and monitoring model runners
+        ├── monitoring      # Daemon to determine driver attention
+        ├── navd            # Turn-by-turn navigation
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
+        └── ui              # The UI
+
+Licensing
+------

 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

@@ -92,17 +137,13 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
-</details>

-<details>
-<summary>User Data and comma Account</summary>
+---

-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.
+<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 is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
-
-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.
-</details>
+[![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)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,227 +1,5 @@
-Version 0.10.0 (2025-08-05)
+Version 0.8.16 (2022-XX-XX)
 ========================
-* New driving model
-  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
-  * Low-speed lead car ground-truth fixes
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
-
-Version 0.9.7 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-
-Version 0.9.6 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* Model path UI
-  * Shows where driving model wants to be
-  * Shows what model is seeing more clearly, but more jittery
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-
-Version 0.9.5 (2023-11-17)
-========================
-* New driving model
-  * Improved navigate on openpilot performance using navigation instructions as an additional model input
-  * Do lateral planning inside the model
-  * New vision transformer architecture
-* Cadillac Escalade ESV 2019 support thanks to twilsonco!
-* Hyundai Azera 2022 support thanks to sunnyhaibin!
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
-* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
-* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
-* Kia Optima Hybrid 2019 support
-* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
-* Lexus GS F 2016 support thanks to snyperifle!
-* Lexus IS 2023 support thanks to L3R5!
-
-Version 0.9.4 (2023-07-27)
-========================
-* comma 3X support
-* Navigate on openpilot in Experimental mode
-  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
-  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
-  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
-  * When navigate on openpilot is active, the path on the map is green
-* UI updates
-  * Navigation settings moved to home screen and map
-  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
-  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
-* Bookmarked segments are preserved on the device's storage
-* Ford Focus 2018 support
-* Kia Carnival 2023 support thanks to sunnyhaibin!
-
-Version 0.9.3 (2023-06-29)
-========================
-* New driving model
-  * Improved height estimation and added height tracking in liveCalibration
-  * Model inputs refactor
-* New driving personality setting
-  * Three settings: aggressive, standard, and relaxed
-  * Standard is recommended and the default
-  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
-  * In relaxed mode, lead follow distance is longer
-* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
-* Improved thermal management logic
-
-Version 0.9.2 (2023-05-22)
-========================
-* New driving model
-  * Reduced turn diving
-  * Trained on a new dataset
-* UI updates
-  * New experimental mode visualization
-  * Draw MPC path instead of model-predicted path
-* AGNOS 7
-  * Faster boot time
-  * Fixes rare no sounds bug
-  * Fixes bootsplash bug at extreme temperatures
-* Buick LaCrosse 2017-19 support thanks to koch-cf!
-* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
-* Ford Bronco Sport 2021-22 support
-* Ford Escape 2020-22 support
-* Ford Explorer 2020-22 support
-* Ford Kuga 2020-22 support
-* Ford Maverick 2022-23 support
-* Genesis GV80 2023 support thanks to JWingate80!
-* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
-* Kia Niro EV 2023 support thanks to JosselinLecocq!
-* Lexus ES 2017-18 support
-* Lincoln Aviator 2021 support
-* Škoda Fabia 2022-23 support thanks to jyoung8607!
-
-
-Version 0.9.1 (2023-02-28)
-========================
-* New driving model
-  * 30% improved height estimation resulting in better driving performance for tall cars
-* Driver monitoring: removed timer resetting on user interaction if distracted
-* UI updates
-  * Adjust alert volume using ambient noise level
-  * Driver monitoring icon shows driver's head pose
-  * German translation thanks to Vrabetz and CzokNorris!
-* Cadillac Escalade 2017 support thanks to rickygilleland!
-* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
-* Genesis GV60 2023 support thanks to sunnyhaibin!
-* Hyundai Tucson 2022-23 support
-* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
-* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Sorento 2022-23 support thanks to sunnyhaibin!
-* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Toyota C-HR 2021 support thanks to eFiniLan!
-* Toyota C-HR Hybrid 2022 support thanks to Korben00!
-* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
-
-Version 0.9.0 (2022-11-21)
-========================
-* New driving model
-  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
-  * Less reliance on previous frames makes model more reactive and snappy
-  * Trained in new reprojective simulator
-  * Trained in 36 hours from scratch, compared to one week for previous releases
-  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
-* Experimental driving mode
-  * End-to-end longitudinal control
-  * Stops for traffic lights and stop signs
-  * Slows down for turns
-  * openpilot defaults to chill mode, enable experimental mode in settings
-* Driver monitoring updates
-  * New bigger model with added end-to-end distracted trigger
-  * Reduced false positives during driver calibration
-* Self-tuning torque controller: learns parameters live for each car
-* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
-* UI updates
-  * Matched speeds shown on car's dash
-  * Multi-language in navigation
-  * Improved update experience
-  * Border turns grey while overriding steering
-  * Bookmark events while driving; view them in comma connect
-  * New onroad visualization for experimental mode
-* tools: new and improved cabana thanks to deanlee!
-* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
-* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
-* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
-* Kia Sportage 2023 support thanks to sunnyhaibin!
-* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Stinger 2022 support thanks to sunnyhaibin!
-
-Version 0.8.16 (2022-08-26)
-========================
-* New driving model
-  * Reduced turn cutting
-* Auto-detect right hand drive setting with driver monitoring model
-* Improved fan controller for comma three
-* New translations
-  * Japanese thanks to cydia2020!
-  * Brazilian Portuguese thanks to AlexandreSato!
-* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
-* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
-* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
-* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
-* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
-* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
-* Subaru Legacy 2020-22 support thanks to martinl!
-* Subaru Outback 2020-22 support

 Version 0.8.15 (2022-07-20)
 ========================
@@ -280,7 +58,7 @@ Version 0.8.14 (2022-06-01)
 Version 0.8.13 (2022-02-18)
 ========================
 * Improved driver monitoring
-   * Re-tuned driver pose learner for relaxed driving positions
+   * Retuned 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
@@ -426,7 +204,7 @@ 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
- * Re-tuned lateral control to be more aggressive when model is confident
+ * Retuned lateral control to be more aggressive when model is confident
 * Toyota Mirai 2021 support
 * Lexus NX 300 2020 support thanks to goesreallyfast!
 * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -591,7 +369,7 @@ 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 compliance
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
 * Forward stock FCW for Honda Nidec
 * Volkswagen port now standard: comma Harness intercepts stock camera

@@ -682,7 +460,7 @@ 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 pandad to reduce latency
+ * Synchronize controlsd to boardd to reduce latency
 * Remove panda support for Subaru giraffe

 Version 0.5.12 (2019-05-16)
@@ -1018,7 +796,7 @@ 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 pandad
+ * Fix ptr alignment issue in boardd
 * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
@@ -1050,7 +828,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
 * Performance improvements, removal of more numpy
- * Fix pandad process priority
+ * Fix boardd process priority
 * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
@@ -1,362 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-TICI = os.path.isfile('/TICI')
-AGNOS = TICI
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
-  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-rpath = []
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/libyuv/larch64/lib",
-    "/usr/lib/aarch64-linux-gnu"
-  ]
-  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  rpath += ["/usr/local/lib"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party",
-    "#msgq",
-  ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#common",
-    "#rednose/helpers",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
-
-env.CompilationDatabase('compile_commands.json')
-
-# Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# Cython build environment
-py_include = sysconfig.get_paths()['include']
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/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"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/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"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_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')
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
-common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-if arch != "Darwin":
-  SConscript([
-    'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
-  ])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
@@ -0,0 +1,56 @@
+FROM ubuntu:20.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    ca-certificates \
+    capnproto \
+    clang \
+    cppcheck \
+    curl \
+    git \
+    libbz2-dev \
+    libcapnp-dev \
+    libffi-dev \
+    liblzma-dev \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libssl-dev \
+    libtool \
+    libzmq3-dev \
+    llvm \
+    make \
+    ocl-icd-opencl-dev \
+    opencl-headers  \
+    python-openssl \
+    tk-dev \
+    wget \
+    xz-utils \
+    zlib1g-dev \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.8.10 && \
+    pyenv global 3.8.10 && \
+    pyenv rehash && \
+    pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
+
+WORKDIR /project/cereal/messaging
+RUN git clone https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
+    mv single_include/catch2 ../catch2 && \
+    cd .. \
+    rm -rf Catch2
+
+WORKDIR /project/cereal
+
+ENV PYTHONPATH=/project
+
+COPY . .
+RUN rm -rf .git && \
+    scons -c && scons -j$(nproc)
@@ -1,77 +1,37 @@
-# What is cereal?
+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 the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
+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
+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`.
+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.
+All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type.

-### Best Practices
+
+Message definition 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
+Pub Sub Backends
+----

-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
-
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
-    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
-    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
---
+cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.

 Example
 ---
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
@@ -1,11 +1,9 @@
+# pylint: skip-file
 import os
 import capnp
-from importlib.resources import as_file, files

+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()

-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
@@ -0,0 +1,665 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+struct CarEvent @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  override @9 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;  # exits active state
+    pedalPressedPreEnable @73;  # added during pre-enable state for either pedal
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    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;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    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;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    startupNoFw @104;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    cameraFrameRate @110;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+    lkasDisabled @107;
+    canBusMissing @111;
+    controlsdLagging @112;
+
+    #dp
+    speedLimitActive @113;
+    speedLimitValueChange @114;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+  }
+}
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  events @13 :List(CarEvent);
+
+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+
+  # car speed
+  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;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user pedal only
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steerFaultTemporary @35 :Bool;   # temporary EPS fault
+  steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  stockAeb @30 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
+
+  # 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;
+
+  # dp
+  cruiseActualEnabled @45 :Bool;
+  engineRPM @46 :Float32;
+  distanceLines @47:UInt8;
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
+    speedLimit @7 :Float32;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+    eco @8;
+    manumatic @9;
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
+    }
+  }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2 :List(UInt64);
+
+  enum Error {
+    canError @0;
+    fault @1;
+    wrongConfig @2;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+  latActive @11: Bool;
+  longActive @12: Bool;
+
+  # Actuator commands as computed by controlsd
+  actuators @6 :Actuators;
+
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+    steeringAngleDeg @3: Float32;
+
+    speed @6: Float32; # m/s
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+
+      startingDEPRECATED @3;
+    }
+
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    resume @1: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+      ldw @7;
+    }
+
+    enum AudibleAlert {
+      none @0;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
+    }
+  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
+  enableGasInterceptor @2 :Bool;
+  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
+
+  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
+  maxLateralAccel @68 :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);
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  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
+  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
+  steerControlType @34 :SteerControlType;
+  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+
+  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
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  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
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
+  }
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LateralTorqueTuning {
+    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    friction @3 :Float32;
+    kf @4 :Float32;
+    steeringAngleDeadzoneDeg @5 :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);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBoschGiraffe @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBosch @20;
+    volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    stellantis @25;
+    faw @26;
+    body @27;
+    hyundaiHDA2 @28;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+  }
+
+  enum Ecu {
+    eps @0;
+    esp @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
+
+    debug @17;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableCameraDEPRECATED @4 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+}
@@ -1,74 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xb526ba661d550a59;
-
-# custom.capnp: a home for empty structs reserved for custom forks
-# These structs are guaranteed to remain reserved and empty in mainline
-# cereal, so use these if you want custom events in your fork.
-
-# DO rename the structs
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct DpControlsState @0x81c2f05a394cf4af {
-  alkaActive @0 :Bool;
-}
-
-struct ModelExt @0xaedffd8f31e7b55d {
-  leftEdgeDetected @0 :Bool;
-  rightEdgeDetected @1 :Bool;
-}
-
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
-}
-
-struct CustomReserved3 @0xda96579883444c35 {
-}
-
-struct CustomReserved4 @0x80ae746ee2596b11 {
-}
-
-struct CustomReserved5 @0xa5cd762cd951a455 {
-}
-
-struct CustomReserved6 @0xf98d843bfd7004a3 {
-}
-
-struct CustomReserved7 @0xb86e6369214c01c8 {
-}
-
-struct CustomReserved8 @0xf416ec09499d9d19 {
-}
-
-struct CustomReserved9 @0xa1680744031fdb2d {
-}
-
-struct CustomReserved10 @0xcb9fd56c7057593a {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct CustomReserved17 @0xa30662f84033036c {
-}
-
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
-}
-
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
-}
@@ -0,0 +1,26 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xbfa7e645486440c7;
+
+# dp
+struct DragonConf {
+  dpAtl @0 :UInt8;
+  dpLocale @1 :Text;
+  dpLateralMode @2 :UInt8;
+  dpLcMinMph @3 :UInt8;
+  dpLcAutoMinMph @4 :UInt8;
+  dpLcAutoDelay @5 :Float32;
+  dpIpAddr @6 :Text;
+  dpUiTop @7 :Bool;
+  dpUiSide @8 :Bool;
+  dpUiVolume @9 :Int8;
+  dpUiBrightness @10 :UInt8;
+  dpUiDisplayMode @11 :UInt8;
+  dpToyotaSng @12 :Bool;
+  dpAccelProfileCtrl @13 :Bool;
+  dpAccelProfile @14 :UInt8;
+  dpToyotaCruiseOverride @15 :Bool;
+  dpUseLanelines @16 :Bool;
+  dpMapd @17 :Bool;
+}
@@ -1,832 +0,0 @@
-// Generated by Cap'n Proto compiler, DO NOT EDIT
-// source: custom.capnp
-
-#include "custom.capnp.h"
-
-namespace capnp {
-namespace schemas {
-static const ::capnp::_::AlignedData<34> b_81c2f05a394cf4af = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    175, 244,  76,  57,  90, 240, 194, 129,
-     13,   0,   0,   0,   1,   0,   1,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0,  63,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  68, 112,  67,
-    111, 110, 116, 114, 111, 108, 115,  83,
-    116,  97, 116, 101,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0,
-      4,   0,   0,   0,   3,   0,   4,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   1,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     13,   0,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     12,   0,   0,   0,   3,   0,   1,   0,
-     24,   0,   0,   0,   2,   0,   1,   0,
-     97, 108, 107,  97,  65,  99, 116, 105,
-    118, 101,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
-#if !CAPNP_LITE
-static const uint16_t m_81c2f05a394cf4af[] = {0};
-static const uint16_t i_81c2f05a394cf4af[] = {0};
-const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
-  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 34, nullptr, m_81c2f05a394cf4af,
-  0, 1, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<51> b_aedffd8f31e7b55d = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     93, 181, 231,  49, 143, 253, 223, 174,
-     13,   0,   0,   0,   1,   0,   1,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 178,   0,   0,   0,
-     29,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 119,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  77, 111, 100,
-    101, 108,  69, 120, 116,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0,
-      8,   0,   0,   0,   3,   0,   4,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   1,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0, 138,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     44,   0,   0,   0,   3,   0,   1,   0,
-     56,   0,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     53,   0,   0,   0, 146,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     56,   0,   0,   0,   3,   0,   1,   0,
-     68,   0,   0,   0,   2,   0,   1,   0,
-    108, 101, 102, 116,  69, 100, 103, 101,
-     68, 101, 116, 101,  99, 116, 101, 100,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    114, 105, 103, 104, 116,  69, 100, 103,
-    101,  68, 101, 116, 101,  99, 116, 101,
-    100,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
-#if !CAPNP_LITE
-static const uint16_t m_aedffd8f31e7b55d[] = {0, 1};
-static const uint16_t i_aedffd8f31e7b55d[] = {0, 1};
-const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
-  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 51, nullptr, m_aedffd8f31e7b55d,
-  0, 2, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    194, 110, 191,  11,  86, 196,  92, 243,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  50,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     53,  76,  68, 131, 152,  87, 150, 218,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  51,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_da96579883444c35 = {
-  0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     17, 107,  89, 226, 110, 116, 174, 128,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  52,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
-  0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     85, 164,  81, 217,  44, 118, 205, 165,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  53,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
-  0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    163,   4, 112, 253,  59, 132, 141, 249,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  54,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
-  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    200,   1,  76,  33, 105,  99, 110, 184,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  55,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
-  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     25, 157, 157,  73,   9, 236,  22, 244,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  56,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
-  0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     45, 219,  31,   3,  68,   7, 104, 161,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  57,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_a1680744031fdb2d = {
-  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     58,  89,  87, 112, 108, 213, 159, 203,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  48,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
-  0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    132,   3,  52, 224, 101,  60,  36, 194,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  49,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_c2243c65e0340384 = {
-  0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     18, 180,   1, 103, 103, 200, 205, 156,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  50,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
-  0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    208, 130, 160, 103, 251, 218, 150, 205,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  51,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
-  0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     63, 223, 234, 125,  77,  32,  87, 176,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  52,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_b057204d7deadf3f = {
-  0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    104, 188, 147, 148,  83,  59,  68, 189,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  53,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_bd443b539493bc68 = {
-  0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     17, 182, 119, 136, 237,  65,  98, 252,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  54,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
-  0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    108,   3,  51,  64, 248,  98,   6, 163,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  55,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_a30662f84033036c = {
-  0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    239, 179,  62, 209,  56,  61, 106, 200,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  56,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
-  0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    130, 245, 245,  35,  51, 235, 241, 164,
-     13,   0,   0,   0,   1,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 242,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,  57,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
-};
-::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
-#if !CAPNP_LITE
-const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
-  0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-}  // namespace schemas
-}  // namespace capnp
-
-// =======================================================================================
-
-namespace cereal {
-
-// DpControlsState
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t DpControlsState::_capnpPrivate::dataWordSize;
-constexpr uint16_t DpControlsState::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind DpControlsState::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* DpControlsState::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// ModelExt
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t ModelExt::_capnpPrivate::dataWordSize;
-constexpr uint16_t ModelExt::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind ModelExt::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* ModelExt::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved2
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved3
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved4
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved5
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved6
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved7
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved8
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved9
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved10
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved11
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved12
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved13
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved14
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved15
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved16
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved17
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved18
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-// CustomReserved19
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
-
-}  // namespace
-
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+rm -r gen/ts
+rm -r gen/js
+
+mkdir gen/ts
+mkdir gen/js
+
+echo "Installing needed npm modules"
+npm i capnpc-ts capnp-ts
+
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
+
+cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
+do
+  TOKEN=`echo $line | sed 's/\./_/g'`
+  ROOT=`echo $line | sed 's/\..*$//g'`
+  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
+  if [[ "$?" == "1" ]]
+  then
+    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
+  fi
+done
+
+tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$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);
+}
@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/
@@ -1,39 +1,39 @@
-# 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
-import msgq
-
+# must be build with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import os
 import capnp
-import time

-from typing import Optional, List, Union, Dict
+from typing import Optional, List, Union
+from collections import deque

 from cereal import log
-from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from cereal.services import service_list
+
+assert MultiplePublishersError
+assert MessagingError

 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")

-def reset_context():
-  msgq.context = Context()
+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)

-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
-    return msg
-
-
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
+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
  if service is not None:
    if size is None:
      dat.init(service)
@@ -41,11 +41,56 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
      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"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
+  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


 # TODO: print when we drop packets?
@@ -55,35 +100,32 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._

  while 1:
    if wait and dat is None:
-      recv = sock.receive()
+      rcv = sock.receive()
    else:
-      recv = sock.receive(non_blocking=True)
+      rcv = sock.receive(non_blocking=True)

-    if recv is None:  # Timeout hit
+    if rcv is None:  # Timeout hit
      break

-    dat = recv
+    dat = rcv

  if dat is not None:
    dat = log_from_bytes(dat)

  return dat

-
 def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive()
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

-
 def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive(non_blocking=True)
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

-
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
@@ -91,105 +133,49 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
    if dat is not None:
      return log_from_bytes(dat)

-
-class FrequencyTracker:
-  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
-    freq = max(min(service_freq, update_freq), 1.)
-    if is_poll:
-      min_freq = max_freq = freq
-    else:
-      max_freq = min(freq, update_freq)
-      if service_freq >= 2 * update_freq:
-        min_freq = update_freq
-      elif update_freq >= 2* service_freq:
-        min_freq = freq
-      else:
-        min_freq = min(freq, freq / 2.)
-
-    self.min_freq = min_freq * 0.8
-    self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
-    self.prev_time = 0.0
-
-  def record_recv_time(self, cur_time: float) -> None:
-    # TODO: Handle case where cur_time is less than prev_time
-    if self.prev_time > 1e-5:
-      dt = cur_time - self.prev_time
-
-      self.avg_dt.add_value(dt)
-      self.recent_avg_dt.add_value(dt)
-
-    self.prev_time = cur_time
-
-  @property
-  def valid(self) -> bool:
-    if self.avg_dt.count == 0:
-      return False
-
-    avg_freq = 1.0 / self.avg_dt.get_average()
-    if self.min_freq <= avg_freq <= self.max_freq:
-      return True
-
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
-    return self.min_freq <= avg_freq_recent <= self.max_freq
-
-
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               addr: str = "127.0.0.1"):
    self.frame = -1
-    self.services = services
-    self.seen = {s: False for s in services}
    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.alive = {s: False for s in services}
+    self.freq_ok = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
+    self.freq = {}
    self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.valid = {}
+    self.logMonoTime = {}

-    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
-    self.alive = {s: on_demand[s] for s in services}
-    self.freq_ok = {s: on_demand[s] for s in services}
-    self.valid = {s: on_demand[s] for s in services}
-
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
    self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]

    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
    self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
-
-    # if freq and poll aren't specified, assume the max to be conservative
-    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
-    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])

    for s in services:
-      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      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

      try:
        data = new_message(s)
-      except capnp.lib.capnp.KjException:
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
        data = new_message(s, 0) # lists

-      self.data[s] = getattr(data.as_reader(), s)
-      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
+      self.data[s] = getattr(data, s)
+      self.logMonoTime[s] = 0
+      self.valid[s] = data.valid

  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]

-  def _check_avg_freq(self, s: str) -> bool:
-    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
-
-  def update(self, timeout: int = 100) -> None:
+  def update(self, timeout: int = 1000) -> None:
    msgs = []
    for sock in self.poller.poll(timeout):
      msgs.append(recv_one_or_none(sock))
@@ -197,43 +183,69 @@ 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(time.monotonic(), msgs)
+    self.update_msgs(sec_since_boot(), msgs)

  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
-    self.updated = dict.fromkeys(self.services, False)
+    self.updated = dict.fromkeys(self.updated, False)
    for msg in msgs:
      if msg is None:
        continue

      s = msg.which()
-      self.seen[s] = True
      self.updated[s] = True

-      self.freq_tracker[s].record_recv_time(cur_time)
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
+      self.rcv_time[s] = cur_time
+      self.rcv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-    for s in self.static_freq_services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
+      if SIMULATION:
+        self.freq_ok[s] = True
+        self.alive[s] = True

-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
+    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])

-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
+          # TODO: check if update frequency is high enough to not drop messages
+          # freq_ok 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.freq_ok[s] = (avg_dt < expected_dt)
+        else:
+          self.freq_ok[s] = True
+          self.alive[s] = True

-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
+  def all_alive(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)

-  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)
+  def all_freq_ok(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.freq_ok[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_checks(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_freq_ok(service_list=service_list) \
+           and self.all_valid(service_list=service_list)

 class PubMaster:
  def __init__(self, services: List[str]):
@@ -246,12 +258,5 @@ 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()  # type: ignore
+    return self.sock[s].all_readers_updated()
@@ -0,0 +1,29 @@
+import time
+
+from messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+
+MSGS = 1e5
+
+if __name__ == "__main__":
+  c = Context()
+  sub_sock = SubSocket()
+  pub_sock = PubSocket()
+
+  sub_sock.connect(c, "controlsState")
+  pub_sock.connect(c, "controlsState")
+
+  poller = Poller()
+  poller.registerSocket(sub_sock)
+
+  t = time.time()
+  for i in range(int(MSGS)):
+    bts = i.to_bytes(4, 'little')
+    pub_sock.send(bts)
+
+    for s in poller.poll(100):
+      dat = s.receive()
+      ii = int.from_bytes(dat, 'little')
+      assert(i == ii)
+
+  dt = time.time() - t
+  print("%.1f msg/s" % (MSGS / dt))
@@ -1,10 +1,8 @@
 #pragma once
-
+#include "messaging.h"
+#include "msgq.h"
+#include <zmq.h>
 #include <string>
-#include <vector>
-
-#include "msgq/ipc.h"
-#include "msgq/msgq.h"

 #define MAX_POLLERS 128

@@ -63,5 +61,5 @@ private:
 public:
  void registerSocket(SubSocket *socket);
  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){}
+  ~MSGQPoller(){};
 };
@@ -1,10 +1,7 @@
 #pragma once
-
+#include "messaging.h"
 #include <zmq.h>
 #include <string>
-#include <vector>
-
-#include "msgq/ipc.h"

 #define MAX_POLLERS 128

@@ -46,7 +43,6 @@ class ZMQPubSocket : public PubSocket {
 private:
  void * sock;
  std::string full_endpoint;
-  int pid = -1;
 public:
  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
@@ -64,5 +60,5 @@ private:
 public:
  void registerSocket(SubSocket *socket);
  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){}
+  ~ZMQPoller(){};
 };
@@ -1,20 +1,72 @@
 #pragma once
-
 #include <cstddef>
 #include <map>
 #include <string>
 #include <vector>
-#include <utility>
-
 #include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"

-#include "cereal/gen/cpp/log.capnp.h"
-#include "common/timing.h"
-#include "msgq/ipc.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 std::vector<const char *> &poll = {},
+  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);
@@ -46,7 +98,10 @@ public:

  cereal::Event::Builder initEvent(bool valid = true) {
    cereal::Event::Builder event = initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
+    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;
  }
@@ -56,18 +111,6 @@ public:
    return heapArray_.asBytes();
  }

-  size_t getSerializedSize() {
-    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
-  }
-
-  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
-    size_t serialized_size = getSerializedSize();
-    if (serialized_size > buffer_size) { return -1; }
-    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
-    capnp::writeMessage(out, *this);
-    return serialized_size;
-  }
-
 private:
  kj::Array<capnp::word> heapArray_;
 };
@@ -0,0 +1,40 @@
+# 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
@@ -1,17 +1,15 @@
 #pragma once
-
 #include <cstdint>
 #include <cstring>
 #include <string>
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 15
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)

-#define UNUSED(x) (void)x
 #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)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)

 struct  msgq_header_t {
  uint64_t num_readers;
@@ -0,0 +1,54 @@
+# MSGQ: A lock free single producer multi consumer message queue
+
+## What is MSGQ?
+MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
+
+## Storage
+The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
+
+1. A counter to the number of readers that are active
+2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
+3. A cycle counter for the writer. This counter is incremented when the writer wraps around
+4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
+5. N counters,  counting the number of cycles for all the readers
+6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
+
+The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
+
+The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
+
+
+## Writing
+Writing involves the following steps:
+
+1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
+2. Write the message
+3. Increase the write pointer by the size of the message
+
+In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
+
+There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
+
+## Reset reader
+When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
+
+1. Set valid flag
+2. Set read cycle counter to that of the writer
+3. Set read pointer to write pointer
+
+## Reading
+Reading involves the following steps:
+
+1. Read the size field at the current read pointer
+2. Read the validity flag
+3. Copy the data out of the buffer
+4. Increase the read pointer by the size of the message
+5. Check the validity flag again
+
+Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
+
+If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
+
+If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
+
+If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <condition_variable>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <vector>
-
-#define private public
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
-
-class MsgqToZmq {
-public:
-  MsgqToZmq() {}
-  void run(const std::vector<std::string> &endpoints, const std::string &ip);
-
-protected:
-  void registerSockets();
-  void zmqMonitorThread();
-
-  struct SocketPair {
-    std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
-    std::unique_ptr<MSGQSubSocket> sub_sock;
-    int connected_clients = 0;
-  };
-
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
-  std::mutex mutex;
-  std::condition_variable cv;
-  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
-  std::vector<SocketPair> socket_pairs;
-};
@@ -0,0 +1,14 @@
+from messaging_pyx import Context, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+
+if __name__ == "__main__":
+  c = Context()
+  pub_sock = PubSocket()
+  pub_sock.connect(c, "controlsState")
+
+  for i in range(int(1e10)):
+    print(i)
+    sub_sock = SubSocket()
+    sub_sock.connect(c, "controlsState")
+
+    pub_sock.send(b'a')
+    print(sub_sock.receive())
@@ -1,93 +1,61 @@
 /* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
 #ifndef __SERVICES_H
 #define __SERVICES_H
-#include <map>
-#include <string>
-struct service { std::string name; bool should_log; int frequency; int decimation; };
-static std::map<std::string, service> services = {
-  { "gyroscope", {"gyroscope", true, 104, 104}},
-  { "gyroscope2", {"gyroscope2", true, 100, 100}},
-  { "accelerometer", {"accelerometer", true, 104, 104}},
-  { "accelerometer2", {"accelerometer2", true, 100, 100}},
-  { "magnetometer", {"magnetometer", true, 25, -1}},
-  { "lightSensor", {"lightSensor", true, 100, 100}},
-  { "temperatureSensor", {"temperatureSensor", true, 2, 200}},
-  { "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
-  { "gpsNMEA", {"gpsNMEA", true, 9, -1}},
-  { "deviceState", {"deviceState", true, 2, 1}},
-  { "touch", {"touch", true, 20, 1}},
-  { "can", {"can", true, 100, 2053}},
-  { "controlsState", {"controlsState", true, 100, 10}},
-  { "selfdriveState", {"selfdriveState", true, 100, 10}},
-  { "pandaStates", {"pandaStates", true, 10, 1}},
-  { "peripheralState", {"peripheralState", true, 2, 1}},
-  { "radarState", {"radarState", true, 20, 5}},
-  { "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
-  { "liveTracks", {"liveTracks", true, 20, -1}},
-  { "sendcan", {"sendcan", true, 100, 139}},
-  { "logMessage", {"logMessage", true, 0, -1}},
-  { "errorLogMessage", {"errorLogMessage", true, 0, 1}},
-  { "liveCalibration", {"liveCalibration", true, 4, 4}},
-  { "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
-  { "liveDelay", {"liveDelay", true, 4, 1}},
-  { "androidLog", {"androidLog", true, 0, -1}},
-  { "carState", {"carState", true, 100, 10}},
-  { "carControl", {"carControl", true, 100, 10}},
-  { "carOutput", {"carOutput", true, 100, 10}},
-  { "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
-  { "driverAssistance", {"driverAssistance", true, 20, 20}},
-  { "procLog", {"procLog", true, 0, 15}},
-  { "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
-  { "gpsLocation", {"gpsLocation", true, 1, 1}},
-  { "ubloxGnss", {"ubloxGnss", true, 10, -1}},
-  { "qcomGnss", {"qcomGnss", true, 2, -1}},
-  { "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
-  { "clocks", {"clocks", true, 0, 1}},
-  { "ubloxRaw", {"ubloxRaw", true, 20, -1}},
-  { "livePose", {"livePose", true, 20, 4}},
-  { "liveParameters", {"liveParameters", true, 20, 5}},
-  { "cameraOdometry", {"cameraOdometry", true, 20, 10}},
-  { "thumbnail", {"thumbnail", true, 0, 1}},
-  { "onroadEvents", {"onroadEvents", true, 1, 1}},
-  { "carParams", {"carParams", true, 0, 1}},
-  { "roadCameraState", {"roadCameraState", true, 20, 20}},
-  { "driverCameraState", {"driverCameraState", true, 20, 20}},
-  { "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
-  { "driverStateV2", {"driverStateV2", true, 20, 10}},
-  { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
-  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
-  { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
-  { "drivingModelData", {"drivingModelData", true, 20, 10}},
-  { "modelV2", {"modelV2", true, 20, -1}},
-  { "managerState", {"managerState", true, 2, 1}},
-  { "uploaderState", {"uploaderState", true, 0, 1}},
-  { "navInstruction", {"navInstruction", true, 1, 10}},
-  { "navRoute", {"navRoute", true, 0, -1}},
-  { "navThumbnail", {"navThumbnail", true, 0, -1}},
-  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
-  { "userBookmark", {"userBookmark", true, 0, 1}},
-  { "soundPressure", {"soundPressure", true, 10, 10}},
-  { "rawAudioData", {"rawAudioData", false, 20, -1}},
-  { "bookmarkButton", {"bookmarkButton", true, 0, 1}},
-  { "audioFeedback", {"audioFeedback", true, 0, 1}},
-  { "uiDebug", {"uiDebug", true, 0, 1}},
-  { "testJoystick", {"testJoystick", true, 0, -1}},
-  { "alertDebug", {"alertDebug", true, 20, 5}},
-  { "roadEncodeData", {"roadEncodeData", false, 20, -1}},
-  { "driverEncodeData", {"driverEncodeData", false, 20, -1}},
-  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
-  { "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
-  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
-  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
-  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
-  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
-  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
-  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
-  { "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
-  { "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
-  { "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
-  { "dpControlsState", {"dpControlsState", false, 100, 10}},
-  { "modelExt", {"modelExt", true, 20, -1}},
+struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
+static struct service services[] = {
+  { "sensorEvents", 8001, true, 100, 100 },
+  { "gpsNMEA", 8002, true, 9, -1 },
+  { "deviceState", 8003, true, 2, 1 },
+  { "can", 8004, true, 100, -1 },
+  { "controlsState", 8005, true, 100, 10 },
+  { "pandaStates", 8006, true, 2, 1 },
+  { "peripheralState", 8007, true, 2, 1 },
+  { "radarState", 8008, true, 20, 5 },
+  { "roadEncodeIdx", 8009, false, 20, 1 },
+  { "liveTracks", 8010, true, 20, -1 },
+  { "sendcan", 8011, true, 100, 139 },
+  { "logMessage", 8012, true, 0, -1 },
+  { "errorLogMessage", 8013, true, 0, 1 },
+  { "liveCalibration", 8014, true, 4, 4 },
+  { "androidLog", 8015, true, 0, -1 },
+  { "carState", 8016, true, 100, 10 },
+  { "carControl", 8017, true, 100, 10 },
+  { "longitudinalPlan", 8018, true, 20, 5 },
+  { "procLog", 8019, true, 0, -1 },
+  { "gpsLocationExternal", 8020, true, 10, 10 },
+  { "ubloxGnss", 8021, true, 10, -1 },
+  { "qcomGnss", 8023, true, 2, -1 },
+  { "gnssMeasurements", 8024, true, 10, -1 },
+  { "clocks", 8025, true, 1, 1 },
+  { "ubloxRaw", 8026, true, 20, -1 },
+  { "liveLocationKalman", 8027, true, 20, 5 },
+  { "liveParameters", 8028, true, 20, 5 },
+  { "cameraOdometry", 8029, true, 20, 5 },
+  { "lateralPlan", 8030, true, 20, 5 },
+  { "thumbnail", 8031, true, 0, 1 },
+  { "carEvents", 8032, true, 1, 1 },
+  { "carParams", 8033, true, 0, 1 },
+  { "roadCameraState", 8034, true, 20, 20 },
+  { "driverCameraState", 8035, true, 20, 20 },
+  { "driverEncodeIdx", 8036, false, 20, 1 },
+  { "driverStateV2", 8037, true, 20, 10 },
+  { "driverMonitoringState", 8038, true, 20, 10 },
+  { "wideRoadEncodeIdx", 8039, false, 20, 1 },
+  { "wideRoadCameraState", 8040, true, 20, 20 },
+  { "modelV2", 8041, true, 20, 40 },
+  { "managerState", 8042, true, 2, 1 },
+  { "uploaderState", 8043, true, 0, 1 },
+  { "navInstruction", 8044, true, 1, 10 },
+  { "navRoute", 8045, true, 0, -1 },
+  { "navThumbnail", 8046, true, 0, -1 },
+  { "qRoadEncodeIdx", 8047, false, 20, -1 },
+  { "testJoystick", 8048, true, 0, -1 },
+  { "roadEncodeData", 8049, false, 20, -1 },
+  { "driverEncodeData", 8050, false, 20, -1 },
+  { "wideRoadEncodeData", 8051, false, 20, -1 },
+  { "qRoadEncodeData", 8052, false, 20, -1 },
+  { "dragonConf", 8053, false, 1, -1 },
+  { "liveMapData", 8054, true, 0, -1 },
 };
 #endif

@@ -1,32 +1,32 @@
 #!/usr/bin/env python3
 from typing import Optional

+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, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
+    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-_services: dict[str, tuple] = {
+services = {
  # service: (should_log, frequency, qlog decimation (optional))
  # 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.),
-  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
+  "sensorEvents": (True, 100., 100),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "can": (True, 100.),
  "controlsState": (True, 100., 10),
-  "selfdriveState": (True, 100., 10),
-  "pandaStates": (True, 10., 1),
+  "pandaStates": (True, 2., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
  "roadEncodeIdx": (False, 20., 1),
@@ -35,27 +35,23 @@ _services: dict[str, tuple] = {
  "logMessage": (True, 0.),
  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
-  "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 10),
-  "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
+  "longitudinalPlan": (True, 20., 5),
+  "procLog": (True, 0.5),
  "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 0.1, 1),
+  "gnssMeasurements": (True, 10.),
+  "clocks": (True, 1., 1),
  "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20., 5),
  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
-  "onroadEvents": (True, 1., 1),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
  "driverCameraState": (True, 20., 20),
@@ -64,42 +60,27 @@ _services: dict[str, tuple] = {
  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., 40),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
-  "userBookmark": (True, 0., 1),
-  "soundPressure": (True, 10., 10),
-  "rawAudioData": (False, 20.),
-  "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),

  # debug
-  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
-  "alertDebug": (True, 20., 5),
  "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.),
-  "dpControlsState": (False, 100., 10),
-  "modelExt": (True, 20.),
+
+  # dp
+  "dragonConf": (False, 1.),
+  "liveMapData": (True, 0.),
 }
-SERVICE_LIST = {name: Service(*vals) for
-                idx, (name, vals) in enumerate(_services.items())}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}


 def build_header():
@@ -107,19 +88,14 @@ 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 += "#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():
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
  h += "};\n"
-
  h += "#endif\n"
  return h

@@ -0,0 +1,7 @@
+#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);
@@ -0,0 +1,69 @@
+#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_ROAD,
+  VISION_STREAM_RGB_DRIVER,
+  VISION_STREAM_RGB_WIDE_ROAD,
+
+  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);
@@ -0,0 +1,18 @@
+#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;
+};
@@ -0,0 +1,39 @@
+# 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()
@@ -1,11 +1,11 @@
 #pragma once
-
-#include <set>
+#include <vector>
 #include <string>
+#include <unistd.h>

-#include "msgq/ipc.h"
-#include "msgq/visionipc/visionbuf.h"
-
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"

 class VisionIpcClient {
 private:
@@ -14,12 +14,15 @@ private:
  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;
-  VisionStreamType type;
  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);
@@ -27,5 +30,4 @@ public:
  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
  bool connect(bool blocking=true);
  bool is_connected() { return connected; }
-  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
 };
@@ -0,0 +1,42 @@
+#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();
+};
@@ -1,35 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
-
-Export('common_python')
@@ -1,46 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -0,0 +1,47 @@
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
+from system.version import get_version
+
+from common.params import Params
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
+
+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self, expiry_hours=1):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -1,4 +1,11 @@
 import os
+from pathlib import Path

+from system.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"
@@ -0,0 +1,24 @@
+# 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)
+
@@ -22,7 +22,7 @@
  })

 cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
+const char* cl_get_error_string(int err);
@@ -1,23 +0,0 @@
-import numpy as np
-
-# conversions
-class CV:
-  # Speed
-  MPH_TO_KPH = 1.609344
-  KPH_TO_MPH = 1. / MPH_TO_KPH
-  MS_TO_KPH = 3.6
-  KPH_TO_MS = 1. / MS_TO_KPH
-  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
-  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
-  MS_TO_KNOTS = 1.9438
-  KNOTS_TO_MS = 1. / MS_TO_KNOTS
-
-  # Angle
-  DEG_TO_RAD = np.pi / 180.
-  RAD_TO_DEG = 1. / DEG_TO_RAD
-
-  # Mass
-  LB_TO_KG = 0.453592
-
-
-ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
@@ -1,6 +1,5 @@
 import numpy as np

-
 class Conversions:
  # Speed
  MPH_TO_KPH = 1.609344
@@ -0,0 +1,271 @@
+#!/usr/bin/env python3.7
+#pylint: skip-file
+import os
+import sys
+import json
+import time
+from math import floor
+# from system.hardware import EON, TICI
+
+'''
+* type: Bool, Int8, UInt8, UInt16, Float32
+* conf_type: param, struct
+* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
+* update_once: True, False (the param will only load up once, need both param and struct defined)
+'''
+confs = [
+  # custom api server
+  {'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
+
+  {'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True},
+
+  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  # nav service
+  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
+
+  # gpxd
+  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  # assign car via param
+  # echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned
+  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+
+  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+
+  # lateral - alc
+  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_min_mph', 'default': 30, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+
+  #ui
+  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
+  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', 'conf_type': ['param']},
+  {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
+
+  #toyota
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+
+  # # dashcam related
+  # {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # # auto shutdown
+  # {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
+  # # service
+  # {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
+  # {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
+  # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # # lat ctrl
+  # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # # long ctrl
+  # {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # # safety
+  # {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # # UIs
+  # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
+  # # toyota
+  # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
+  # # hyundai
+  # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # # honda
+  # {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # # volkswagen
+  # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # #misc
+  # {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
+  # {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
+  # {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+  # {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  #
+  # {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # # sr learner related
+  # {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
+  #
+  # {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  #
+  # {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  # {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  # {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
+  # {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  #
+  # {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+]
+
+def get_definition(name):
+  for conf in confs:
+    if conf['name'] == name:
+      return conf
+  return None
+
+def to_param_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    type = conf['type'].lower()
+    try:
+      if 'bool' in type:
+        val = '1' if val else '0'
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return str(val)
+    except (ValueError, TypeError):
+      return ''
+  return ''
+
+def to_struct_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    try:
+      type = conf['type'].lower()
+      if 'bool' in type:
+        val = True if val == '1' else False
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return val
+    except (ValueError, TypeError):
+      return None
+  return None
+
+'''
+function to convert param name into struct name.
+'''
+def get_struct_name(snake_str):
+  components = snake_str.split('_')
+  # We capitalize the first letter of each component except the first one
+  # with the 'title' method and join them together.
+  return components[0] + ''.join(x.title() for x in components[1:])
+
+'''
+function to generate struct for log.capnp
+'''
+def gen_log_struct():
+  count = 0
+  str = "# dp\n"
+  str += "struct DragonConf {\n"
+  for conf in confs:
+    name = get_struct_name(conf['name'])
+    if 'struct' in conf['conf_type']:
+      str += f"  {name} @{count} :{conf['type']};\n"
+      count += 1
+  str += "}"
+  print(str)
+
+'''
+function to generate support car list
+'''
+def get_support_car_list():
+  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
+  cars = dict({"cars": []})
+  models = []
+  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      if car_name != "mock":
+        for attr in attrs:
+          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+          if hasattr(values, attr):
+            attr_values = getattr(values, attr)
+          else:
+            continue
+          if isinstance(attr_values, dict):
+            for f, v in attr_values.items():
+              if f not in models:
+                models.append(f)
+    except (ImportError, IOError, ValueError):
+      pass
+  models.sort()
+  cars["cars"] = models
+  return json.dumps(cars)
+
+'''
+function to init param value.
+should add this into manager.py
+'''
+def init_params_vals(params):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      if conf['name'] == 'dp_car_list':
+        params.put(conf['name'], get_support_car_list())
+      elif params.get(conf['name']) is None:
+        params.put(conf['name'], to_param_val(conf['name'], conf['default']))
+
+def gen_params_cc_keys():
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      print("    {\"%s\", PERSISTENT}," % conf['name'])
+
+
+if __name__ == "__main__":
+  if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
+    gen_params_cc_keys()
+  else:
+    gen_log_struct()
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3.7
+# import subprocess
+# from cereal import car
+from common.params import Params
+from common.realtime import sec_since_boot
+import os
+params = Params()
+LAST_MODIFIED = params.get_param_path() + "/dp_last_modified"
+
+# delay of reading last modified
+# LAST_MODIFIED_TIMER_THERMALD = 10.
+LAST_MODIFIED_TIMER_SYSTEMD = 1.
+# LAST_MODIFIED_TIMER_LANE_PLANNER = 3.
+# LAST_MODIFIED_TIMER_UPLOADER = 10.
+
+# def is_online():
+#   try:
+#     return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+#   except ProcessLookupError:
+#     return False
+#
+# def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
+#   if enabled:
+#     if dragonconf.dpLateralMode == 0 and blinker_on:
+#       steer_req = 0 if isinstance(steer_req, int) else False
+#   return steer_req
+#
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if os.path.isfile(LAST_MODIFIED) and (old_check is None or new_check - old_check >= delay):
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+# def param_get_if_updated(param, type, old_val, old_modified):
+#   try:
+#     modified = os.stat(PARAM_PATH + param).st_mtime
+#   except OSError:
+#     return old_val, old_modified
+#   if old_modified != modified:
+#     new_val = param_get(param, type, old_val)
+#     new_modified = modified
+#   else:
+#     new_val = old_val
+#     new_modified = old_modified
+#   return new_val, new_modified
+
+# def param_get(param_name, type, default):
+#   try:
+#     val = params.get(param_name, encoding='utf8').rstrip('\x00')
+#     if type == 'bool':
+#       val = val == '1'
+#     elif type == 'int':
+#       val = int(val)
+#     elif type == 'float':
+#       val = float(val)
+#   except (TypeError, ValueError):
+#     val = default
+#   return val
@@ -0,0 +1,55 @@
+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(f"cache miss {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
@@ -1,10 +1,60 @@
-import io
 import os
+import shutil
 import tempfile
-import contextlib
-import zstandard as zstd
+from atomicwrites import AtomicWriter

-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
+
+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 f"/{parts[1]}/runner/tmp"
+  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()


 class CallbackReader:
@@ -26,33 +76,38 @@ class CallbackReader:
    return chunk


-@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)
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    return writer.get_fileobject(dir=temp_dir)
+  return _get_fileobject

-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)

-  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)
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
+
+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.
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))


-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
@@ -1,4 +1,5 @@
 class FirstOrderFilter:
+  # first order filter
  def __init__(self, x0, rc, dt, initialized=True):
    self.x = x0
    self.dt = dt
@@ -1,42 +0,0 @@
-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)
@@ -0,0 +1,21 @@
+#pragma once
+
+// Pin definitions
+#ifdef QCOM2
+  #define GPIO_HUB_RST_N        30
+  #define GPIO_UBLOX_RST_N      32
+  #define GPIO_UBLOX_SAFEBOOT_N 33
+  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_STM_RST_N        124
+  #define GPIO_STM_BOOT0        134
+#else
+  #define GPIO_HUB_RST_N        0
+  #define GPIO_UBLOX_RST_N      0
+  #define GPIO_UBLOX_SAFEBOOT_N 0
+  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_STM_RST_N        0
+  #define GPIO_STM_BOOT0        0
+#endif
+
+int gpio_init(int pin_nr, bool output);
+int gpio_set(int pin_nr, bool high);
@@ -1,8 +1,3 @@
-import os
-import fcntl
-import ctypes
-from functools import cache
-
 def gpio_init(pin: int, output: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
@@ -10,80 +5,10 @@ def gpio_init(pin: int, output: bool) -> None:
  except Exception as e:
    print(f"Failed to set gpio {pin} direction: {e}")

+
 def gpio_set(pin: int, high: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
      f.write(b"1" if high else b"0")
  except Exception as e:
    print(f"Failed to set gpio {pin} value: {e}")
-
-def gpio_read(pin: int) -> bool | None:
-  val = None
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
-      val = bool(int(f.read().strip()))
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
-
-  return val
-
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
-@cache
-def get_irq_action(irq: int) -> list[str]:
-  try:
-    with open(f"/sys/kernel/irq/{irq}/actions") as f:
-      actions = f.read().strip().split(',')
-      return actions
-  except FileNotFoundError:
-    return []
-
-def get_irqs_for_action(action: str) -> list[str]:
-  ret = []
-  with open("/proc/interrupts") as f:
-    for l in f.readlines():
-      irq = l.split(':')[0].strip()
-      if irq.isdigit() and action in get_irq_action(irq):
-        ret.append(irq)
-  return ret
-
-# *** gpiochip ***
-
-class gpioevent_data(ctypes.Structure):
-  _fields_ = [
-    ("timestamp", ctypes.c_uint64),
-    ("id", ctypes.c_uint32),
-  ]
-
-class gpioevent_request(ctypes.Structure):
-  _fields_ = [
-    ("lineoffset", ctypes.c_uint32),
-    ("handleflags", ctypes.c_uint32),
-    ("eventflags", ctypes.c_uint32),
-    ("label", ctypes.c_char * 32),
-    ("fd", ctypes.c_int)
-  ]
-
-def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
-  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
-  GPIOHANDLE_REQUEST_INPUT = 0x1
-  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
-
-  rq = gpioevent_request()
-  rq.lineoffset = pin
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
-  rq.label = label.encode('utf-8')[:31] + b'\0'
-
-  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
-  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
-  os.close(fd)
-  return int(rq.fd)
@@ -1,8 +0,0 @@
-from openpilot.common.params import Params
-
-
-def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable"):
-    return "gpsLocationExternal"
-  else:
-    return "gpsLocation"
@@ -0,0 +1,20 @@
+import gettext
+from common.params import Params
+
+locale_dir = "/data/openpilot/selfdrive/assets/locales"
+# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
+supported_languages = {
+  "main_zh-CHT": "zh-TW",
+  "main_zh-CHS": "zh-CN",
+  "main_ko": "ko-KR",
+}
+
+def events():
+  locale = Params().get("LanguageSetting", encoding='utf8')
+  if locale is not None:
+    locale = supported_languages[locale.strip()]
+  else:
+    locale = "en-US"
+  i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
+  i18n.install()
+  return i18n.gettext
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <cstdint>
+
+#include <sys/types.h>
+
+class I2CBus {
+  private:
+    int i2c_fd;
+
+  public:
+    I2CBus(uint8_t bus_id);
+    ~I2CBus();
+
+    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
+    int set_register(uint8_t device_address, uint register_address, uint8_t data);
+};
@@ -0,0 +1 @@
+simple_kalman_impl.c
@@ -0,0 +1,3 @@
+# pylint: skip-file
+from common.kalman.simple_kalman_impl import KF1D as KF1D
+assert KF1D
@@ -0,0 +1,18 @@
+# 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
@@ -0,0 +1,37 @@
+# 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]
--- a/Show More
+++ b/Show More