dragonpilot beta3

date: 2024-08-20T11:22:58 commit: dc76c1d6216e3766209a450c29dc9dafb696ef19
dragonpilot beta3
2026-06-20 13:32:04 +08:00 · 2024-08-20 11:23:01 +00:00 · 2024-07-24 16:04:20 +08:00 · 2024-07-18 06:40:05 +08:00 · 2024-07-17 20:01:14 +08:00 · 2024-07-16 16:56:22 +08:00
3402 changed files with 529053 additions and 818226 deletions
@@ -0,0 +1,19 @@
+---
+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:
+...
@@ -13,6 +13,27 @@
 *.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
@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true

-[*.{py,pyx,pxd}]
+[{*.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. 
-
-
-->
-
@@ -10,13 +10,12 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+model2.png
 a.out
 .hypothesis
-.cache/

 /docs_site/

-*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -36,21 +35,33 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.mo
-*_pyx.cpp
+*.qm
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html

+persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
+selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
+system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/
+
+notebooks
+hyperthneed
+provisioning

 .coverage*
 coverage.xml
@@ -63,11 +74,11 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

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

-# openpilot log files
 *.bz2
-*.zst

 build/

@@ -94,6 +105,3 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
-
-# rick - keep panda_tici standalone
-panda_tici/
@@ -0,0 +1,41 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+unmatched_ignore_imports_alerting = warn
@@ -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"
-  ]
-}
@@ -1,85 +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"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "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": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}
@@ -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/**",
-  ]
-}
@@ -1,89 +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 ---> MIN["min"]
-    MIN ---> MIN_001["min-feat/dev/c3"]
-    MIN ---> MIN_002["min-feat/dev/o3"]
-    MIN ---> MIN_003["min-feat/lat/alka"]
-    MIN ---> MIN_004["min-feat/ui/display-mode"]
-    MIN ---> MIN_005["min-feat/dev/model-selector"]
-    MIN ---> MIN_006["min-feat/lat/lca"]
-    MIN ---> MIN_007["min-feat/dev/on-off-road"]
-    MIN ---> MIN_008["min-feat/ui/hide-hud"]
-    MIN ---> MIN_009["min-feat/lon/ext-radar"]
-    MIN ---> MIN_010["min-feat/lat/road-edge-detection"]
-    MIN ---> MIN_011["min-feat/ui/rainbow-path"]
-    MIN ---> MIN_012["min-feat/lon/acm"]
-    MIN ---> MIN_013["min-feat/lon/aem"]
-    MIN ---> MIN_014["min-feat/lon/dtsc"]
-    MIN ---> MIN_015["min-feat/dev/alert-mode"]
-    MIN ---> MIN_016["min-feat/dev/auto-shutdown"]
-    MIN ---> MIN_017["min-feat/ui/lead-stats"]
-    MIN ---> MIN_018["min-feat/ui/border-indicator"]
-    MIN ---> MIN_019["min-feat/dev/dashy"]
-    MIN ---> MIN_010["min-feat/dev/delay-loggerd"]
-    MIN ---> MIN_021["min-feat/dev/disable-connect"]
-    MIN ---> MIN_022["min-feat/dev/tether-on-boot"]
-    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
-    MIN_019 ---> FULL
-    MIN_020 ---> FULL
-    MIN_021 ---> FULL
-    MIN_022 ---> FULL
-    FULL ---> TOYOTA_001[brand/toyota/safety-common]
-    FULL ---> TOYOTA_002[brand/toyota/door-auto-lock-unlock]
-    FULL ---> TOYOTA_003[brand/toyota/tss1-sng]
-    FULL ---> TOYOTA_004[brand/toyota/radar-filter]
-    FULL ---> TOYOTA_005[brand/toyota/sdsu]
-    FULL ---> TOYOTA_006[brand/toyota/dsu-bypass]
-    FULL ---> TOYOTA_007[brand/toyota/zss]
-    FULL ---> TOYOTA_008[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]
-    FULL ---> HONDA_001[brand/honda/eps-mod]
-    FULL ---> SUBARU_001[brand/subaru/torque-3071]
-    TOYOTA_001 ---> TOYOTA[pre-toyota]
-    TOYOTA_002 ---> TOYOTA
-    TOYOTA_003 ---> TOYOTA
-    TOYOTA_004 ---> TOYOTA
-    TOYOTA_005 ---> TOYOTA
-    TOYOTA_006 ---> TOYOTA
-    TOYOTA_007 ---> TOYOTA
-    TOYOTA_008 ---> TOYOTA
-    VAG_001 ---> VAG[pre-vag]
-    VAG_002 ---> VAG
-    VAG_003 ---> VAG
-    VAG_004 ---> VAG
-    HKG_001 ---> HKG[pre-hkg]
-    HONDA_001 ---> HONDA[pre-honda]
-    SUBARU_001 ---> SUBARU[pre-subaru]
-    TOYOTA ---> PRE[pre]
-    VAG ---> PRE
-    HKG ---> PRE
-    HONDA ---> PRE
-    SUBARU ---> PRE
-    PRE ---> PRE_PATCH[pre-patch]
-    PRE_PATCH ---> PREBUILD[pre-build]
-    PREBUILD ---> VERSION[x.x.x]
-```
@@ -1,649 +1,220 @@
-dragonpilot 0.10.1 r3 (2025-11-25)
-=======================
-* ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)
-* ✨ Various Bugfixes / Improvements (2025-11-25)
-* ✨ UI: Back to Display Mode v1 (std., main+, main-, op+, op-) (2025-11-25)
-* ✅ UI: Extend screen timeout (2025-11-04)
-* ✅ UI: Display Lead & Radar Stats (2025-10-30)
-* ✅ UI: Border Indicators (2025-05-27)
-* ✅ 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: Dynamic Turn Speed Control (DTSC) (2025-11-04)
-* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Branch Selector (2025-11-14)
-* ✅ MISC: Tether on boot (2025-11-04)
-* ✅ MISC: Disable Comma Connect (2025-09-22)
-* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
-* ✅ MISC: Delay Starting Loggerd (2025-06-30)
-* ✅ 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: DSU Bypass Support by @cydia2020 (2025-09-09)
-* ✅ 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)
-* ✅ Honda: EPS Mod Support (2025-09-09)
-* ✅ 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)
-* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
-* ❌ ~~🚧 AGNOS 14.7 (2025-11-11)~~
-* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
-* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
-
-dragonpilot 0.10.1 r2 (2025-11-16)
-=======================
-* ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)
-* ✨ Various Bugfixes / Improvements (2025-11-14)
-* ✨ UI: Display Mode v2 - (std., op+, op- ONLY) (2025-11-14)
-* ✨ MISC: Branch Selector (2025-11-14)
-* ✅ UI: Extend screen timeout (2025-11-04)
-* ✅ UI: Display Lead & Radar Stats (2025-10-30)
-* ✅ UI: Border Indicators (2025-05-27)
-* ✅ 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: Dynamic Turn Speed Control (DTSC) (2025-11-04)
-* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
-* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Tether on boot (2025-11-04)
-* ✅ MISC: Disable Comma Connect (2025-09-22)
-* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
-* ✅ MISC: Delay Starting Loggerd (2025-06-30)
-* ✅ 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: DSU Bypass Support by @cydia2020 (2025-09-09)
-* ✅ 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)
-* ✅ Honda: EPS Mod Support (2025-09-09)
-* ✅ 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)
-* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
-* ❌ ~~🚧 AGNOS 14.7 (2025-11-11)~~
-* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
-* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
-
-dragonpilot 0.10.1 r1 (2025-11-11)
-=======================
-* ✨ openpilot 0.10.1 (devel-staging) (2025-10-24)
-* ✨ 🚧 AGNOS 14.7 (2025-11-11)
-* ✨ UI: Extend screen timeout (2025-11-04)
-* ✨ UI: Display Lead & Radar Stats (2025-10-30)
-* ✨ 🚧 LON/AEM: Refactored w/ New Logic (2025-11-10)
-* ✨ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
-* ✨ 🚧 LON/ACM: Refactored w/ New Logic (2025-09-19)
-* ✨ MISC: Tether on boot (2025-11-04)
-* ✨ MISC: Disable Comma Connect (2025-09-22)
-* ✨ MISC: C3/C3X/O3 series Support (2025-09-15)
-* ✨ Toyota: sDSU jerk fix by @sunnyhaibin (2025-09-30)
-* ✨ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
-* ✅ UI: Border Indicators (2025-05-27)
-* ✅ 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: Adaptive Coasting Mode (ACM) (2025-04-06)
-* ✅ LON: Ext Radar Support (2025-03-31)
-* ✅ MISC: Delay Starting Loggerd (2025-06-30)
-* ✅ 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: DSU Bypass Support by @cydia2020 (2025-09-09)
-* ✅ 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)
-* ✅ Honda: EPS Mod Support (2025-09-09)
-* ✅ 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)
-* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
-* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
-
-
-dragonpilot 0.10.0 r2 (2025-09-15)
-=======================
-* ✅ openpilot 0.10.0 (devel-staging) (2025-08-06)
-* ✨ 🚧 Toyota: DSU Bypass Support by @cydia2020 (Disabled, Code Change Requred) (2025-09-09)
-* ✨ Honda: EPS Mod Support (2025-09-09)
-* ✅ 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: Delay Starting Loggerd (2025-06-30)
-* ✅ 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 0.10.0 r1 (2025-09-05)
-=======================
-* ✨ openpilot 0.10.0 (devel-staging) (2025-08-06)
-* ✨ MISC: Delay Starting Loggerd (2025-06-30)
-* 🔄 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)
+dragonpilot beta3 0.9.8
 =======================
 * 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.
+  * [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.
 　　
+　　
+===============
+DP FEATURE LIST
+===============
+  * Common / Lateral
+    * Always on Lane Keeping Assist (ALKA)
+    * Configurable Lane Change Assist w/ Auto Lane Change Support
+    * Road Edge Detection (by rav4kumar)
+    * Lane Priority Mode
+      * Ability to use Lane Planner for lane centering instead of end to end (when lane probs are high, logic by sunnyhaibin)
+      * Ability to set speed limit and only activate at high speed (e.g. highway use only)
+  * Common / Longitudinal
+    * Dynamic End-to-End Controller
+    * On-Screen Driving Personality Button
+    * Speed-based Alternative Driving Personality Mode
+    * [TESTING] Personalized Accel Learner (PAL) - Learn and apply accel habits from driver
+      * Ability to set a launch boost for initial acceleration
+      * Ability to freeze / reset learned parameters
+  * Common / UI
+    * Flight Panel
+    * Rainbow Path
+    * Accel/Decel Indicator
+    * Blinker / Brake Indicator
+  * Common / TeToo (Map / Tē-Tôo)
+    * [TESTING] Display Road Name (Global, Online OSM)
+    * [TESTING] Display Speed Camera Warning (Global, Online OSM)
+    * [TESTING] Display Speed Camera Warning for Taiwan (Offline DB)
+  * Common / Device
+    * Disable Logging
+    * Disable Upload While On-Road (by rav4kumar)
+    * Display On/Off Mode
+    * Audible Alert Mode
+    * Auto Shutdown w/ Timer
+    * On-Road / Off-Road Switcher (Software Panel)
+    * Debug Console
+    * Delete logs button (Device Panel)
+  * Vehicle / Toyota
+    * Stop and Go Mod
+    * Enhanced BSM (by rav4kumar)
+    * Auto Door Lock/Unlock
+    * Zorro-Steering-Sensor (ZSS) Support (by erichMoraga)
+    * PCM Compensation Enhancement (by cydia2020)
+    * Auto Brake-Hold (by alexandreSato)
+  * Vehicle / VAG
+    * SnG for A0 Platform (by Saber422)
+    * Patch for Modified PQ Platform (by Saber422)
+  * Vehicle / HKG
+    * Low Speed Turn Enhancement
+
+dragonpilot beta3 [2024-07-24]
+=======================
+* Up to comma.ai openpilot master branch commit cbee4421da690fa7b260f62c4a2c72ccacc6c902 (2024-07-14)
+* DP HIGHLIGHT:
+  * [BUGFIX] Fixed Lexus IS/GS crashed issue.
+  * [BUGFIX] [TESTING] Fixed issue with TeToo road match. 
+  * [NEW] [TESTING] Personalized Accel Learner (PAL) - Learn and apply accel habits from driver.
+    * Ability to set a launch boost for initial acceleration  
+    * Ability to freeze / reset learned parameters
+  * [NEW] Delete logs button (Device Panel)
+  * [NEW] [VAG] Patch for Modified PQ Platform
+  * [NEW] Lane Priority Mode
+    * Ability to use Lane Planner for lane centering instead of end to end (when lane probs are high, logic by sunnyhaibin).
+    * Ability to set speed limit and only activate at high speed (e.g. highway use only)
+　　
+　　
+===============
+DP FEATURE LIST
+===============
+  * Common / Lateral
+    * Always on Lane Keeping Assist (ALKA)
+    * Configurable Lane Change Assist w/ Auto Lane Change Support
+    * Road Edge Detection. (by rav4kumar)
+  * Common / Longitudinal
+    * Dynamic End-to-End Controller
+    * On-Screen Driving Personality Button
+    * Speed-based Alternative Driving Personality Mode
+  * Common / UI
+    * Flight Panel
+    * Rainbow Path
+    * Accel/Decel Indicator
+    * Blinker / Brake Indicator
+  * Common / TeToo (Map / Tē-Tôo)
+    * [TESTING] Display Road Name (Global, Online OSM)
+    * [TESTING] Display Speed Camera Warning (Global, Online OSM)
+    * [TESTING] Display Speed Camera Warning for Taiwan (Offline DB)
+  * Common / Device
+    * Disable Logging
+    * Disable Upload While On-Road (by rav4kumar)
+    * Display On/Off Mode
+    * Audible Alert Mode
+    * Auto Shutdown w/ Timer
+    * On-Road / Off-Road Switcher (Software Panel)
+    * Debug Console
+  * Vehicle / Toyota
+    * Stop and Go Mod
+    * Enhanced BSM (by rav4kumar)
+    * Auto Door Lock/Unlock
+    * Zorro-Steering-Sensor (ZSS) Support (by erichMoraga)
+    * PCM Compensation Enhancement (by cydia2020)
+    * Auto Brake-Hold (by alexandreSato)
+  * Vehicle / VAG
+    * SnG for A0 Platform (by Saber422)
+  * Vehicle / HKG
+    * Low Speed Turn Enhancement
+
 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.
+  * [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.
+  * 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
+  * 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.
+  * 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
+  * 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.
+  * 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!
+  * 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.
+  * 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]
@@ -657,8 +228,8 @@ 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
+ * 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/
@@ -676,51 +247,51 @@ 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
+  * 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.
+  * 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.
+  * 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.
+  * 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 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)
@@ -758,7 +329,7 @@ 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.
+   - 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.
@@ -1424,14 +995,14 @@ 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
 ========================
@@ -1,14 +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 . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv 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
@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}
@@ -1,7 +0,0 @@
-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.
@@ -1,30 +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.
@@ -1,74 +1,98 @@
-![](dragonpilot/selfdrive/assets/dragonpilot.png)
+<div align="center" style="text-align: center;">

-[Read this in English](README_EN.md)
+<h1>openpilot</h1>

-# **🐲 dragonpilot - 賦予您的愛車「龍」之魂**
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>

-**我們與您一同翱翔於更智慧、更貼心的駕駛旅程。**
+<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>

-## **👋 嘿, 朋友，歡迎您的到來！**
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`

-`dragonpilot` 誕生於 2019 年，由三位早期的 openpilot 華人玩家共同創立。初衷很簡單：為廣大的華人用戶、玩家們提供一個友善的交流環境、更簡便的設定協助，並加入更多適合在地使用的貼心功能。
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![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)

-我們深知在地化的重要性，特別是語言的親切感。因此，我們率先導入了完整的中文介面，讓 `dragonpilot` 迅速在華語地區累積了口碑，也讓華人的使用者數量在全球名列前茅。這份來自在地的支持，是我們持續前進的最大動力。
+</div>

-我們以功能強大的 [openpilot](https://github.com/commaai/openpilot) 為基礎——這套據美國消費者報告評測優於市售車方案的開源輔助駕駛系統——融入了更多在地化的巧思與客製化的溫度，希望能打造出最符合您需求的駕駛夥伴。(您也可以參考我們 repo 中保留的 [openpilot 原始說明檔案](README_OPENPILOT.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>
+  </tr>
+</table>

-取名 `dragonpilot`，是因為我們希望它能像神話中的「龍」一樣，既強大又充滿智慧，為您的行車安全保駕護航。龍，在我們華人文化中，更是吉祥與力量的象徵，也代表著我們的根源與驕傲。
+To start using openpilot in a car
+------

-## **✨ dragonpilot 的里程碑**
+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.

-我們不僅保留了 openpilot 的核心優勢，更達成了許多從社群回饋中誕生的里程碑，這些是我們引以為傲的足跡：
+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.

-* **🚘 全時置中車道維持 (ALKA)**
+To start developing openpilot
+------

-  這不只是一個功能，更是 `dragonpilot` 的哲學。我們最早於 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 時便實現了這個功能，其開發歷程始於 2017 Lexus IS300h，接著擴展至 Toyota 全車系，並逐步延伸到其他支援的品牌。它能溫柔地輔助您，讓車輛始終穩定地保持在車道中央，提供一份額外的安心與從容。
+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).

-* **🌐 率先導入多國語言介面**
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Read about the [development workflow](docs/WORKFLOW.md)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)

-  在官方 openpilot 還未支援前，我們便已將多國語言介面實現。`dragonpilot` 完整支援繁體中文、簡體中文與英文，讓操作毫無隔閡。
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.

-* **💻 唯一同時支援多硬體平台**
+Safety and Testing
+----

-  我們是唯一曾致力於讓專案同時兼容 EON、comma two、comma 3 與 Jetson 平台的社群分支，這份努力是為了服務最廣大的玩家社群。
-  此外，在 comma.ai 團隊於 0.10.0 版本宣布停止支持 comma 3 後，我們仍是唯一一個完整同時支援 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列為副廠硬體）的社群分支。
+* 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.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

-* **📜 曾榮獲官方認證第一大分支**
+Licensing
+------

-  基於活躍的社群與功能創新，`dragonpilot` 曾一度成長為 comma ai 官方認證的第一大 openpilot 分支，這份榮耀屬於每一位參與者。
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

-## **🧑‍💻 設計理念 - 少即是多 (Less is More)**
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

-隨著 openpilot 的 AI 模型日益強大，許多過去需要手動微調的功能，現在都已能透過更先進的模型來實現。因此，我們現在的開發重心回歸到 **「最小化修改」(minimal changes)** 的核心原則上。
+**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.**

-我們的目標是為您提供最純粹、最接近官方的 openpilot 駕駛感受，同時保留 `dragonpilot` 那些經過時間考驗、最受社群喜愛的經典功能。我們相信，在強大的 AI 基礎上，簡潔即是力量。
+User Data and comma Account
+------

-## **🛠️ 硬件的足跡 - 一路走來的夥伴們**
+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.

-從最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社群中各式各樣充滿智慧的**副廠機 (如 C1.5, O2, O3, O3L, O3XL 等)**，甚至我們也曾探索過在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
+openpilot is open source software: the user is free to disable data collection if they wish to do so.

-目前最新版本主要支援： comma3 / 3X 以及 O3 / O3L / O3XL 等社群硬體。
-針對 EON / C1.5 / C2 等舊款硬體，最後支援的版本位於 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
-無論您手上是哪一款設備，都代表著您對開源駕駛輔助的一份熱情。
+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.

-## **🫂 加入我們，成為「尋龍者」的一份子**
-
-`dragonpilot` 的成長，離不開每一位使用者的貢獻與回饋。我們是一個以**公開、透明**為原則的溫暖社群，希望在這裡能與所有對 openpilot / dragonpilot 有興趣的用戶分享、交流開發與使用上的經驗。
-
-[**歡迎加入我們的 Facebook 社團進行交流！**](https://www.facebook.com/groups/930190251238639)
-
-## **❤️ 特別感謝**
-
-`dragonpilot` 從創立至今，從未打算透過 Patreon 等平台進行任何形式的募資。我們的初衷是建立一個讓大家能一起學習、一起成長的社群。It's all about fun, not money.
-
-然而，我們仍要對那些自發性支持本專案的朋友們，致上最誠摯的感謝。正是因為有您們的鼓勵，我們才有更大的動力持續前進。
-
-[**我們的贊助者名單**](SPONSORS.md)
-
-### **安全聲明**
-
-`dragonpilot` 是一種駕駛**輔助**系統，並非全自動駕駛。它旨在減輕您的駕駛疲勞，提升行車安全，但駕駛人仍需時刻保持專注，並隨時準備接管車輛。請務必遵守您所在地區的交通法規。
-
-**最後，再次感謝您的到來。**
-
-**期待與您一同在智慧駕駛的道路上，乘「龍」而行！**
+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.
@@ -1,74 +0,0 @@
-![](dragonpilot/selfdrive/assets/dragonpilot.png)
-
-[Read this in Chinese](README.md)
-
-# **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
-
-**Join us on a smarter, more thoughtful driving journey.**
-
-## **👋 Welcome, friend!**
-
-`dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
-
-Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
-
-Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
-
-The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
-
-## **✨ Milestones**
-
-Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
-
-* **🚘 Always Lane Keep Assist (ALKA)**
-
-  More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
-
-* **🌐 First to add multilingual support**
-
-  Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
-
-* **💻 Only community fork to support multiple hardware platforms at once**
-
-  We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
-  Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
-
-* **📜 Once recognized as the #1 openpilot fork**
-
-  Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
-
-## **🧑‍💻 Design Philosophy - Less is More**
-
-As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
-
-We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
-
-## **🛠️ Hardware Journey**
-
-From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
-
-Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
-Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
-Whatever device you're on, it represents your passion for open-source driver assistance.
-
-## **🫂 Join Us – Become a “Dragon Seeker”**
-
-`dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
-
-[**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
-
-## **❤️ Special Thanks**
-
-Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
-
-That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
-
-[**See our sponsors**](SPONSORS.md)
-
-### **Safety Notice**
-
-`dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
-
-**Thanks again for being here.**
-
-**We look forward to riding the “dragon” with you on the road to smarter driving!**
@@ -1,107 +0,0 @@
-<div align="center" style="text-align: center;">
-
-<h1>openpilot</h1>
-
-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 300+ supported cars.
-</p>
-
-<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)`
-
-[![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>
-
-<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>
-  </tr>
-</table>
-
-
-Using openpilot in a car
------
-
-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 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 3X 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.
-
-### 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.      |
-
-To start developing openpilot
------
-
-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).
-
-* 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)
-
-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.
-
-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.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-<details>
-<summary>MIT Licensed</summary>
-
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
-
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
-
-**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.
-
-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>
@@ -1,60 +1,6 @@
-Version 0.10.1 (2025-09-08)
+Version 0.9.8 (2024-XX-XX)
 ========================
-* New driving model #36276
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * VAE Compression Model: new architecture and training objective
-  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
-
-Version 0.10.0 (2025-08-05)
-========================
-* 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)
 ========================
@@ -1,224 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-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('--mutation', action='store_true', help='generate mutation-ready code')
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-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.')
-
-# Detect platform
-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 os.path.isfile('/TICI'):
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
-
-env = Environment(
-  ENV={
-    "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"
-  },
-  CC='clang',
-  CXX='clang++',
-  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=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
-  ],
-  RPATH=[],
-  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"],
-)
-
-# Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
-  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# progress output
-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"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch')
-
-# Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# 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'])
-SConscript(['panda_tici/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/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'])
-
-
-env.CompilationDatabase('compile_commands.json')
@@ -1,26 +0,0 @@
-# Sponsors 贊助者
-
-我們誠摯感謝以下贊助者提供的硬體資源，讓專案能夠在多種平台上進行測試與驗證。
-
-We sincerely thank the following sponsors for providing hardware resources, which enable the project to be tested and validated across multiple platforms.
-
---
-
-## 贊助者列表 Sponsors
-
-| 贊助者 Sponsor | 設備 Deices | 備註 Notes |
-| -------------- | ----------- | ---------- |
-| BlueGood | <ul><li>Radar Filter x 2</li><li>sDSU x1</li></ul> | - |
-| Chia Chun Lee | <ul><li>C3 Quick Mount x1</li></ul> | - |
-| CloudJ | <ul><li>C3X x1</li></ul> | - |
-| FareWay | <ul><li>EON Quick Mount x1</li><li>C2/C3 Quick Mount x1</li></ul> | Special thanks for fixing my good old EON |
-| Fred Wang | <ul><li>Oneplus 3t x1</li></ul> | - |
-| Saber Huang | <ul><li>O3L x1</li></ul> | - |
-| [馬威 Mr. One](https://shop61532546.taobao.com/) | <ul><li>O3 x 1</li><li>O3 (Dev) x1</li><li>O3XL x1</li><li>Red Panda x1</li><li>Panda Jungle v1 x1</li></ul> | - |
-| 門文梁 | <ul><li>C1.5 x1</li></ul> | - |
-
---
-
-🙏 沒有你們的支持，我們無法讓專案在這麼多硬體平台上持續成長與驗證。
-
-Without your support, this project could not continue to grow and be validated across so many hardware platforms.
@@ -29,50 +29,6 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [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;
-```
-
---
-
 Example
 ---
 ```python
@@ -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 @@
 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"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
@@ -0,0 +1,708 @@
+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
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    calibrationRecalibrating @117;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @26;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+    joystickDebug @34;
+    steerTempUnavailableSilent @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    lowBattery @48;
+    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;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+    lkasDisabled @107;
+    canBusMissing @111;
+    controlsdLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+    locationdTemporaryError @103;
+    locationdPermanentError @118;
+    paramsdTemporaryError @50;
+    paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
+    espActive @121;
+
+    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;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
+  }
+}
+
+# ******* 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
+  canErrorCounter @48 :UInt32;
+
+  # car speed
+  vEgo @1 :Float32;          # best estimate of speed
+  aEgo @16 :Float32;         # best estimate of acceleration
+  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
+  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
+
+  engineRpm @46 :Float32;
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  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;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :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;
+
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
+  charging @43 :Bool;
+
+  # process meta
+  cumLagMs @50 :Float32;
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    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;
+  }
+
+  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;
+    }
+  }
+
+  # deprecated
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  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;
+  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
+}
+
+# ******* 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;
+
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+    # value sent over can to the car
+    steerOutputCan @8: Float32;
+    steeringAngleDeg @3: Float32;
+
+    curvature @7: Float32;
+
+    speed @6: Float32; # m/s
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    resume @1: Bool;
+    override @4: 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;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # 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;
+}
+
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
+
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  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
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indiDEPRECATED @27 :LateralINDITuning;
+    lqrDEPRECATED @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
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  steerControlType @34 :SteerControlType;
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  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;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @6 :Float32;
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @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;
+    subaruPreglobal @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+
+    curvatureDEPRECATED @2;
+  }
+
+  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;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
+  }
+
+  enum Ecu {
+    eps @0;
+    abs @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module
+
+    # Toyota only
+    dsu @6;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+
+    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
+  }
+
+  enableGasInterceptorDEPRECATED @2 :Bool;
+  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
+}
@@ -7,19 +7,52 @@ $Cxx.namespace("cereal");
 # 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 {
+# you can rename the struct, but don't change the identifier
+struct ControlsStateExt @0x81c2f05a394cf4af {
  alkaActive @0 :Bool;
+  alkaEnabled @1 :Bool;
 }

-struct ModelExt @0xaedffd8f31e7b55d {
-  leftEdgeDetected @0 :Bool;
-  rightEdgeDetected @1 :Bool;
+struct LongitudinalPlanExt @0xaedffd8f31e7b55d {
+  de2eIsBlended @0 :Bool;
+  de2eIsEnabled @1 :Bool;
+  altDrivingPersonalityIsActive @2 :Bool;
 }

-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+enum LaneChangeAssistMode {
+  stock @0;
+  disable @1;
+  hold @2;
+  auto @3;
+}
+
+struct TeToo @0xf35cc4560bbf6ec2 {
+  lat @0 :Float32;
+  lon @1 :Float32;
+  bearing @2 :Float32;
+  name @3 :Text;
+  maxspeed @4 :Float32;
+  tags @5 :Text;
+
+  updatingData @6 :Bool;
+  nearestFeatures @7 :List(Feature);
+
+  struct Feature {
+    id @0 :Text;
+    type @1 :FeatureType;
+    lat @2 :Float32;
+    lon @3 :Float32;
+    bearing @4 :Float32;
+    distance @5 :Float32;
+    tags @6 :Text;
+    probability @7 :Float32;
+  }
+
+  enum FeatureType {
+    trafficSignal @0;
+    speedCamera @1;
+  }
+
 }

 struct CustomReserved3 @0xda96579883444c35 {
@@ -42,33 +75,3 @@ 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 +1,876 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: custom.capnp
+
+#include "custom.capnp.h"
+
+namespace capnp {
+namespace schemas {
+static const ::capnp::_::AlignedData<50> 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, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   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,  67, 111, 110,
+    116, 114, 111, 108, 115,  83, 116,  97,
+    116, 101,  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,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   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,
+     49,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     48,   0,   0,   0,   3,   0,   1,   0,
+     60,   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,
+     97, 108, 107,  97,  69, 110,  97,  98,
+    108, 101, 100,   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, 1};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
+const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 50, nullptr, m_81c2f05a394cf4af,
+  0, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<69> 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,  10,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 175,   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,  76, 111, 110,
+    103, 105, 116, 117, 100, 105, 110,  97,
+    108,  80, 108,  97, 110,  69, 120, 116,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     12,   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,
+     69,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     68,   0,   0,   0,   3,   0,   1,   0,
+     80,   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,
+     77,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     76,   0,   0,   0,   3,   0,   1,   0,
+     88,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     85,   0,   0,   0, 242,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     92,   0,   0,   0,   3,   0,   1,   0,
+    104,   0,   0,   0,   2,   0,   1,   0,
+    100, 101,  50, 101,  73, 115,  66, 108,
+    101, 110, 100, 101, 100,   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,
+    100, 101,  50, 101,  73, 115,  69, 110,
+     97,  98, 108, 101, 100,   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,
+     97, 108, 116,  68, 114, 105, 118, 105,
+    110, 103,  80, 101, 114, 115, 111, 110,
+     97, 108, 105, 116, 121,  73, 115,  65,
+     99, 116, 105, 118, 101,   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[] = {2, 0, 1};
+static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2};
+const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 69, nullptr, m_aedffd8f31e7b55d,
+  0, 3, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<35> b_db95ceb5f50cf43d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     61, 244,  12, 245, 181, 206, 149, 219,
+     13,   0,   0,   0,   2,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  18,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 103,   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,  76,  97, 110,
+    101,  67, 104,  97, 110, 103, 101,  65,
+    115, 115, 105, 115, 116,  77, 111, 100,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     16,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     25,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     17,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 111,  99, 107,   0,   0,   0,
+    100, 105, 115,  97,  98, 108, 101,   0,
+    104, 111, 108, 100,   0,   0,   0,   0,
+     97, 117, 116, 111,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_db95ceb5f50cf43d = b_db95ceb5f50cf43d.words;
+#if !CAPNP_LITE
+static const uint16_t m_db95ceb5f50cf43d[] = {3, 1, 2, 0};
+const ::capnp::_::RawSchema s_db95ceb5f50cf43d = {
+  0xdb95ceb5f50cf43d, b_db95ceb5f50cf43d.words, 35, nullptr, m_db95ceb5f50cf43d,
+  0, 4, nullptr, nullptr, nullptr, { &s_db95ceb5f50cf43d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(LaneChangeAssistMode_db95ceb5f50cf43d, db95ceb5f50cf43d);
+static const ::capnp::_::AlignedData<151> b_f35cc4560bbf6ec2 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+     13,   0,   0,   0,   1,   0,   3,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      3,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 154,   0,   0,   0,
+     29,   0,   0,   0,  39,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   0,   0,   0, 199,   1,   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,  84, 101,  84,
+    111, 111,   0,   0,   0,   0,   0,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
+     12,  14, 188, 178, 108, 117, 214, 149,
+      9,   0,   0,   0,  66,   0,   0,   0,
+    243,  89, 193, 168, 200,  76,  33, 210,
+      5,   0,   0,   0,  98,   0,   0,   0,
+     70, 101,  97, 116, 117, 114, 101,   0,
+     70, 101,  97, 116, 117, 114, 101,  84,
+    121, 112, 101,   0,   0,   0,   0,   0,
+     32,   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,
+    209,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
+    216,   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,
+    213,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    208,   0,   0,   0,   3,   0,   1,   0,
+    220,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    217,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    221,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    216,   0,   0,   0,   3,   0,   1,   0,
+    228,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    225,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    224,   0,   0,   0,   3,   0,   1,   0,
+    236,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    233,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0, 128,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    245,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+     16,   1,   0,   0,   2,   0,   1,   0,
+    108,  97, 116,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 110,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 101,  97, 114, 105, 110, 103,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    110,  97, 109, 101,   0,   0,   0,   0,
+     12,   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,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,  97, 120, 115, 112, 101, 101, 100,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116,  97, 103, 115,   0,   0,   0,   0,
+     12,   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,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 112, 100,  97, 116, 105, 110, 103,
+     68,  97, 116,  97,   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,
+    110, 101,  97, 114, 101, 115, 116,  70,
+    101,  97, 116, 117, 114, 101, 115,   0,
+     14,   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,   3,   0,   1,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     12,  14, 188, 178, 108, 117, 214, 149,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   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_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
+  &s_95d6756cb2bc0e0c,
+};
+static const uint16_t m_f35cc4560bbf6ec2[] = {2, 0, 1, 4, 3, 7, 5, 6};
+static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7};
+const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 151, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
+  1, 8, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<140> b_95d6756cb2bc0e0c = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     12,  14, 188, 178, 108, 117, 214, 149,
+     19,   0,   0,   0,   1,   0,   3,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+      2,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 218,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 199,   1,   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,  84, 101,  84,
+    111, 111,  46,  70, 101,  97, 116, 117,
+    114, 101,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     32,   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,
+    209,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    213,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    208,   0,   0,   0,   3,   0,   1,   0,
+    220,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    217,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    221,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    216,   0,   0,   0,   3,   0,   1,   0,
+    228,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    225,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    220,   0,   0,   0,   3,   0,   1,   0,
+    232,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    229,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
+    105, 100,   0,   0,   0,   0,   0,   0,
+     12,   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,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116, 121, 112, 101,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    243,  89, 193, 168, 200,  76,  33, 210,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 116,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 110,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 101,  97, 114, 105, 110, 103,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 105, 115, 116,  97, 110,  99, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116,  97, 103, 115,   0,   0,   0,   0,
+     12,   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,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    112, 114, 111,  98,  97,  98, 105, 108,
+    105, 116, 121,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   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_95d6756cb2bc0e0c = b_95d6756cb2bc0e0c.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_95d6756cb2bc0e0c[] = {
+  &s_d2214cc8a8c159f3,
+};
+static const uint16_t m_95d6756cb2bc0e0c[] = {4, 5, 0, 2, 3, 7, 6, 1};
+static const uint16_t i_95d6756cb2bc0e0c[] = {0, 1, 2, 3, 4, 5, 6, 7};
+const ::capnp::_::RawSchema s_95d6756cb2bc0e0c = {
+  0x95d6756cb2bc0e0c, b_95d6756cb2bc0e0c.words, 140, d_95d6756cb2bc0e0c, m_95d6756cb2bc0e0c,
+  1, 8, i_95d6756cb2bc0e0c, nullptr, nullptr, { &s_95d6756cb2bc0e0c, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<28> b_d2214cc8a8c159f3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    243,  89, 193, 168, 200,  76,  33, 210,
+     19,   0,   0,   0,   2,   0,   0,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 250,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  55,   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,  84, 101,  84,
+    111, 111,  46,  70, 101,  97, 116, 117,
+    114, 101,  84, 121, 112, 101,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     13,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116, 114,  97, 102, 102, 105,  99,  83,
+    105, 103, 110,  97, 108,   0,   0,   0,
+    115, 112, 101, 101, 100,  67,  97, 109,
+    101, 114,  97,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_d2214cc8a8c159f3 = b_d2214cc8a8c159f3.words;
+#if !CAPNP_LITE
+static const uint16_t m_d2214cc8a8c159f3[] = {1, 0};
+const ::capnp::_::RawSchema s_d2214cc8a8c159f3 = {
+  0xd2214cc8a8c159f3, b_d2214cc8a8c159f3.words, 28, nullptr, m_d2214cc8a8c159f3,
+  0, 2, nullptr, nullptr, nullptr, { &s_d2214cc8a8c159f3, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(FeatureType_d2214cc8a8c159f3, d2214cc8a8c159f3);
+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
+}  // namespace schemas
+}  // namespace capnp
+
+// =======================================================================================
+
+namespace cereal {
+
+// ControlsStateExt
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t ControlsStateExt::_capnpPrivate::dataWordSize;
+constexpr uint16_t ControlsStateExt::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind ControlsStateExt::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* ControlsStateExt::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// LongitudinalPlanExt
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t LongitudinalPlanExt::_capnpPrivate::dataWordSize;
+constexpr uint16_t LongitudinalPlanExt::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind LongitudinalPlanExt::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* LongitudinalPlanExt::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// TeToo
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t TeToo::_capnpPrivate::dataWordSize;
+constexpr uint16_t TeToo::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind TeToo::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* TeToo::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// TeToo::Feature
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t TeToo::Feature::_capnpPrivate::dataWordSize;
+constexpr uint16_t TeToo::Feature::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind TeToo::Feature::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* TeToo::Feature::_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
+
+
+}  // namespace
+
@@ -17,124 +17,6 @@ struct Map(Key, Value) {
  }
 }

-struct OnroadEvent @0xc4fa6047f024e718 {
-  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
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0x91f1992a1f77fb03 {
-    canError @0;
-    steerUnavailable @1;
-    wrongGear @2;
-    doorOpen @3;
-    seatbeltNotLatched @4;
-    espDisabled @5;
-    wrongCarMode @6;
-    steerTempUnavailable @7;
-    reverseGear @8;
-    buttonCancel @9;
-    buttonEnable @10;
-    pedalPressed @11;  # exits active state
-    preEnableStandstill @12;  # added during pre-enable state with brake
-    gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
-    steerOverride @14;
-    steerDisengage @94;  # exits active state
-    cruiseDisabled @15;
-    speedTooLow @16;
-    outOfSpace @17;
-    overheat @18;
-    calibrationIncomplete @19;
-    calibrationInvalid @20;
-    calibrationRecalibrating @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    radarFault @25;
-    radarTempUnavailable @93;
-    brakeHold @26;
-    parkBrake @27;
-    manualRestart @28;
-    joystickDebug @29;
-    longitudinalManeuver @30;
-    steerTempUnavailableSilent @31;
-    resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
-    belowSteerSpeed @39;
-    lowBattery @40;
-    accFaulted @41;
-    sensorDataInvalid @42;
-    commIssue @43;
-    commIssueAvgFreq @44;
-    tooDistracted @45;
-    posenetInvalid @46;
-    preLaneChangeLeft @48;
-    preLaneChangeRight @49;
-    laneChange @50;
-    lowMemory @51;
-    stockAeb @52;
-    ldw @53;
-    carUnrecognized @54;
-    invalidLkasSetting @55;
-    speedTooHigh @56;
-    laneChangeBlocked @57;
-    relayMalfunction @58;
-    stockFcw @59;
-    startup @60;
-    startupNoCar @61;
-    startupNoControl @62;
-    startupNoSecOcKey @63;
-    startupMaster @64;
-    fcw @65;
-    steerSaturated @66;
-    belowEngageSpeed @67;
-    noGps @68;
-    wrongCruiseMode @69;
-    modeldLagging @70;
-    deviceFalling @71;
-    fanMalfunction @72;
-    cameraMalfunction @73;
-    cameraFrameRate @74;
-    processNotRunning @75;
-    dashcamMode @76;
-    selfdriveInitializing @77;
-    usbError @78;
-    cruiseMismatch @79;
-    canBusMissing @80;
-    selfdrivedLagging @81;
-    resumeBlocked @82;
-    steerTimeLimit @83;
-    vehicleSensorsInvalid @84;
-    locationdTemporaryError @85;
-    locationdPermanentError @86;
-    paramsdTemporaryError @87;
-    paramsdPermanentError @88;
-    actuatorsApiUnavailable @89;
-    espActive @90;
-    personalityChanged @91;
-    aeb @92;
-    userBookmark @95;
-    excessiveActuation @96;
-    audioFeedback @97;
-
-    soundsUnavailableDEPRECATED @47;
-  }
-}
-
 enum LongitudinalPersonality {
  aggressive @0;
  standard @1;
@@ -156,10 +38,6 @@ struct InitData {
  gitBranch @11 :Text;
  gitRemote @13 :Text;

-  # this is source commit for prebuilt branches
-  gitSrcCommit @23 :Text;
-  gitSrcCommitDate @24 :Text;
-
  androidProperties @16 :Map(Text, Text);

  pandaInfo @8 :PandaInfo;
@@ -418,7 +296,6 @@ struct GpsLocationData {
  speedAccuracy @12 :Float32;

  hasFix @13 :Bool;
-  satelliteCount @14 :Int8;

  enum SensorSource {
    android @0;
@@ -492,13 +369,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  # device thermals
  cpuTempC @26 :List(Float32);
  gpuTempC @27 :List(Float32);
-  dspTempC @49 :Float32;
  memoryTempC @28 :Float32;
+  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
  pmicTempC @39 :List(Float32);
-  intakeTempC @46 :Float32;
-  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@@ -569,7 +443,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  chargingDisabledDEPRECATED @18 :Bool;
  usbOnlineDEPRECATED @12 :Bool;
  ambientTempCDEPRECATED @30 :Float32;
-  nvmeTempCDEPRECATED @35 :List(Float32);
 }

 struct PandaState @0xa7649e2575e4591e {
@@ -585,8 +458,9 @@ struct PandaState @0xa7649e2575e4591e {
  heartbeatLost @22 :Bool;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
+  fanStallCount @34 :UInt8;

-  spiErrorCount @33 :UInt16;
+  spiChecksumErrorCount @33 :UInt16;

  harnessStatus @21 :HarnessStatus;
  sbu1Voltage @35 :Float32;
@@ -713,7 +587,6 @@ struct PandaState @0xa7649e2575e4591e {
  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
 }

 struct PeripheralState {
@@ -734,10 +607,11 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
  mdMonoTime @6 :UInt64;
  carStateMonoTime @11 :UInt64;
-  radarErrors @13 :Car.RadarData.Error;
+  radarErrors @12 :List(Car.RadarData.Error);

  leadOne @3 :LeadData;
  leadTwo @4 :LeadData;
+  cumLagMs @5 :Float32;

  struct LeadData {
    dRel @0 :Float32;
@@ -767,8 +641,6 @@ struct RadarState @0x9a185389d6fdd05f {
  calCycleDEPRECATED @8 :Int32;
  calPercDEPRECATED @9 :Int8;
  canMonoTimesDEPRECATED @10 :List(UInt64);
-  cumLagMsDEPRECATED @5 :Float32;
-  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }

 struct LiveCalibrationData {
@@ -799,7 +671,7 @@ struct LiveCalibrationData {
  }
 }

-struct LiveTracksDEPRECATED {
+struct LiveTracks {
  trackId @0 :Int32;
  dRel @1 :Float32;
  yRel @2 :Float32;
@@ -812,25 +684,52 @@ struct LiveTracksDEPRECATED {
  oncoming @9 :Bool;
 }

-struct SelfdriveState {
-  # high level system state
-  state @0 :OpenpilotState;
-  enabled @1 :Bool;
-  active @2 :Bool;
-  engageable @9 :Bool;  # can OP be engaged?
+struct ControlsState @0x97ff69c53601abf1 {
+  startMonoTime @48 :UInt64;
+  longitudinalPlanMonoTime @28 :UInt64;
+  lateralPlanMonoTime @50 :UInt64;
+
+  state @31 :OpenpilotState;
+  enabled @19 :Bool;
+  active @36 :Bool;
+
+  experimentalMode @64 :Bool;
+  personality @66 :LongitudinalPersonality;
+
+  longControlState @30 :Car.CarControl.Actuators.LongControlState;
+  vTargetLead @3 :Float32;
+  vCruise @22 :Float32;  # actual set speed
+  vCruiseCluster @63 :Float32;  # set speed to display in the UI
+  upAccelCmd @4 :Float32;
+  uiAccelCmd @5 :Float32;
+  ufAccelCmd @33 :Float32;
+  aTarget @35 :Float32;
+  curvature @37 :Float32;  # path curvature from vehicle model
+  desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
+  forceDecel @51 :Bool;

  # UI alerts
-  alertText1 @3 :Text;
-  alertText2 @4 :Text;
-  alertStatus @5 :AlertStatus;
-  alertSize @6 :AlertSize;
-  alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
-  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
+  alertText1 @24 :Text;
+  alertText2 @25 :Text;
+  alertStatus @38 :AlertStatus;
+  alertSize @39 :AlertSize;
+  alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
+  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
+  engageable @41 :Bool;  # can OP be engaged?

-  # configurable driving settings
-  experimentalMode @10 :Bool;
-  personality @11 :LongitudinalPersonality;
+  cumLagMs @15 :Float32;
+
+  lateralControlState :union {
+    indiState @52 :LateralINDIState;
+    pidState @53 :LateralPIDState;
+    angleState @58 :LateralAngleState;
+    debugState @59 :LateralDebugState;
+    torqueState @60 :LateralTorqueState;
+
+    curvatureStateDEPRECATED @65 :LateralCurvatureState;
+    lqrStateDEPRECATED @55 :LateralLQRState;
+  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
@@ -840,41 +739,17 @@ struct SelfdriveState {
    overriding @4;  # superset of overriding with steering or accelerator
  }

-  enum AlertStatus @0xa0d0dcd113193c62 {
-    normal @0;
-    userPrompt @1;
-    critical @2;
+  enum AlertStatus {
+    normal @0;       # low priority alert for user's convenience
+    userPrompt @1;   # mid priority alert that might require user intervention
+    critical @2;     # high priority alert that needs immediate user intervention
  }

-  enum AlertSize @0xe98bb99d6e985f64 {
-    none @0;
-    small @1;
-    mid @2;
-    full @3;
-  }
-}
-
-struct ControlsState @0x97ff69c53601abf1 {
-  longitudinalPlanMonoTime @28 :UInt64;
-  lateralPlanMonoTime @50 :UInt64;
-
-  longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  upAccelCmd @4 :Float32;
-  uiAccelCmd @5 :Float32;
-  ufAccelCmd @33 :Float32;
-  curvature @37 :Float32;  # path curvature from vehicle model
-  desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  forceDecel @51 :Bool;
-
-  lateralControlState :union {
-    pidState @53 :LateralPIDState;
-    angleState @58 :LateralAngleState;
-    debugState @59 :LateralDebugState;
-    torqueState @60 :LateralTorqueState;
-
-    curvatureStateDEPRECATED @65 :LateralCurvatureState;
-    lqrStateDEPRECATED @55 :LateralLQRState;
-    indiStateDEPRECATED @52 :LateralINDIState;
+  enum AlertSize {
+    none @0;    # don't display the alert
+    small @1;   # small box
+    mid @2;     # mid screen
+    full @3;    # full screen
  }

  struct LateralINDIState {
@@ -990,32 +865,12 @@ struct ControlsState @0x97ff69c53601abf1 {
  desiredCurvatureRateDEPRECATED @62 :Float32;
  canErrorCounterDEPRECATED @57 :UInt32;
  vPidDEPRECATED @2 :Float32;
-  alertBlinkingRateDEPRECATED @42 :Float32;
-  alertText1DEPRECATED @24 :Text;
-  alertText2DEPRECATED @25 :Text;
-  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
-  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
-  alertTypeDEPRECATED @44 :Text;
-  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
-  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
-  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
-  enabledDEPRECATED @19 :Bool;
-  activeDEPRECATED @36 :Bool;
-  experimentalModeDEPRECATED @64 :Bool;
-  personalityDEPRECATED @66 :LongitudinalPersonality;
-  vCruiseDEPRECATED @22 :Float32;  # actual set speed
-  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
-  startMonoTimeDEPRECATED @48 :UInt64;
-  cumLagMsDEPRECATED @15 :Float32;
-  aTargetDEPRECATED @35 :Float32;
-  vTargetLeadDEPRECATED @3 :Float32;
 }

 struct DrivingModelData {
  frameId @0 :UInt32;
  frameIdExtra @1 :UInt32;
  frameDropPerc @6 :Float32;
-  modelExecutionTime @7 :Float32;

  action @2 :ModelDataV2.Action;

@@ -1061,6 +916,7 @@ struct ModelDataV2 {
  frameDropPerc @2 :Float32;
  timestampEof @3 :UInt64;
  modelExecutionTime @15 :Float32;
+  gpuExecutionTime @17 :Float32;
  rawPredictions @16 :Data;

  # predicted future position, orientation, etc..
@@ -1085,15 +941,14 @@ struct ModelDataV2 {
  confidence @23: ConfidenceClass;

  # Model perceived motion
-  temporalPoseDEPRECATED @21 :Pose;
+  temporalPose @21 :Pose;

-  # e2e lateral planner
-  action @26: Action;
-
-  gpuExecutionTimeDEPRECATED @17 :Float32;
  navEnabledDEPRECATED @22 :Bool;
  locationMonoTimeDEPRECATED @24 :UInt64;
+
+  # e2e lateral planner
  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  action @26: Action;

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -1155,8 +1010,6 @@ struct ModelDataV2 {
    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
-    gasPressProbs @7 :List(Float32);
-    brakePressProbs @8 :List(Float32);
  }

  struct Pose {
@@ -1179,8 +1032,6 @@ struct ModelDataV2 {

  struct Action {
    desiredCurvature @0 :Float32;
-    desiredAcceleration @1 :Float32;
-    shouldStop @2 :Bool;
  }
 }

@@ -1228,14 +1079,6 @@ struct AndroidLogEntry {
  message @6 :Text;
 }

-struct DriverAssistance {
-  # Lane Departure Warnings
-  leftLaneDeparture @0 :Bool;
-  rightLaneDeparture @1 :Bool;
-
-  # FCW, AEB, etc. will go here
-}
-
 struct LongitudinalPlan @0xe00b5b3eba12876c {
  modelMonoTime @9 :UInt64;
  hasLead @7 :Bool;
@@ -1287,7 +1130,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  radarValidDEPRECATED @28 :Bool;
  radarCanErrorDEPRECATED @30 :Bool;
  commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
+  eventsDEPRECATED @13 :List(Car.CarEvent);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;
  personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -1421,7 +1264,7 @@ struct LivePose {
  posenetOK @5 :Bool = false;
  sensorsOK @6 :Bool = false;

-  debugFilterState @7 :FilterState;
+  filterState @7 :FilterState;

  struct XYZMeasurement {
    x @0 :Float32;
@@ -1437,14 +1280,6 @@ struct LivePose {
    value @0 : List(Float64);
    std @1 : List(Float64);
    valid @2 : Bool;
-
-    observations @3 :List(Observation);
-
-    struct Observation {
-      kind @0 :Int32;
-      value @1 :List(Float32);
-      error @2 :List(Float32);
-    }
  }
 }

@@ -1593,10 +1428,6 @@ struct UbloxGnss {
      svId @0 :UInt8;
      gnssId @1 :UInt8;
      flagsBitfield @2 :UInt32;
-      cno @3 :UInt8;
-      elevationDeg @4 :Int8;
-      azimuthDeg @5 :Int16;
-      pseudorangeResidual @6 :Float32;
    }
  }

@@ -2146,10 +1977,12 @@ struct Joystick {
 struct DriverStateV2 {
  frameId @0 :UInt32;
  modelExecutionTime @1 :Float32;
-  gpuExecutionTime @8 :Float32;
+  dspExecutionTime @2 :Float32;
  rawPredictions @3 :Data;

+  poorVisionProb @4 :Float32;
  wheelOnRightProb @5 :Float32;
+
  leftDriverData @6 :DriverData;
  rightDriverData @7 :DriverData;

@@ -2164,13 +1997,10 @@ struct DriverStateV2 {
    leftBlinkProb @7 :Float32;
    rightBlinkProb @8 :Float32;
    sunglassesProb @9 :Float32;
+    occludedProb @10 :Float32;
+    readyProb @11 :List(Float32);
    notReadyProb @12 :List(Float32);
-    occludedProbDEPRECATED @10 :Float32;
-    readyProbDEPRECATED @11 :List(Float32);
  }
-
-  dspExecutionTimeDEPRECATED @2 :Float32;
-  poorVisionProbDEPRECATED @4 :Float32;
 }

 struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
@@ -2206,7 +2036,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }

 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @18 :List(OnroadEvent);
+  events @0 :List(Car.CarEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
  distractedType @17 :UInt32;
@@ -2225,7 +2055,6 @@ struct DriverMonitoringState @0xb83cda094a1da284 {

  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }

 struct Boot {
@@ -2253,20 +2082,9 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
-  debugFilterState @16 :FilterState;
-
-  angleOffsetValid @17 :Bool = true;
-  angleOffsetAverageValid @18 :Bool = true;
-  steerRatioValid @19 :Bool = true;
-  stiffnessFactorValid @20 :Bool = true;
+  filterState @15 :LiveLocationKalman.Measurement;

  yawRateDEPRECATED @7 :Float32;
-  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
-
-  struct FilterState {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-  }
 }

 struct LiveTorqueParametersData {
@@ -2283,24 +2101,6 @@ struct LiveTorqueParametersData {
  points @10 :List(List(Float32));
  version @11 :Int32;
  useParams @12 :Bool;
-  calPerc @13 :Int8;
-}
-
-struct LiveDelayData {
-  lateralDelay @0 :Float32;
-  validBlocks @1 :Int32;
-  status @2 :Status;
-
-  lateralDelayEstimate @3 :Float32;
-  lateralDelayEstimateStd @5 :Float32;
-  points @4 :List(Float32);
-  calPerc @6 :Int8;
-
-  enum Status {
-    unestimated @0;
-    estimated @1;
-    invalid @2;
-  }
 }

 struct LiveMapDataDEPRECATED {
@@ -2464,40 +2264,16 @@ struct EncodeData {
  height @5 :UInt32;
 }

-struct DebugAlert {
-  alertText1 @0 :Text;
-  alertText2 @1 :Text;
+struct UserFlag {
 }

-struct UserBookmark @0xfe346a9de48d9b50 {
-}
-
-struct SoundPressure @0xdc24138990726023 {
+struct Microphone {
  soundPressure @0 :Float32;

  # uncalibrated, A-weighted
  soundPressureWeighted @3 :Float32;
  soundPressureWeightedDb @1 :Float32;
-
-  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
-}
-
-struct AudioData {
-  data @0 :Data;
-  sampleRate @1 :UInt32;
-}
-
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
-struct Touch {
-  sec @0 :Int64;
-  usec @1 :Int64;
-  type @2 :UInt8;
-  code @3 :Int32;
-  value @4 :Int32;
+  filteredSoundPressureWeightedDb @2 :Float32;
 }

 struct Event {
@@ -2516,7 +2292,6 @@ struct Event {
    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
-    selfdriveState @130 :SelfdriveState;
    gyroscope @99 :SensorEventData;
    gyroscope2 @100 :SensorEventData;
    accelerometer @98 :SensorEventData;
@@ -2528,14 +2303,13 @@ struct Event {
    pandaStates @81 :List(PandaState);
    peripheralState @80 :PeripheralState;
    radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    liveTracks @16 :List(LiveTracks);
    sendcan @17 :List(CanData);
    liveCalibration @19 :LiveCalibrationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
-    driverAssistance @132 :DriverAssistance;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2544,12 +2318,12 @@ struct Event {
    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
-    onroadEvents @134: List(OnroadEvent);
+    onroadEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
    driverMonitoringState @71: DriverMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
    drivingModelData @128 :DrivingModelData;
@@ -2569,8 +2343,7 @@ struct Event {
    livestreamDriverEncodeIdx @119 :EncodeIndex;

    # microphone data
-    soundPressure @103 :SoundPressure;
-    rawAudioData @147 :AudioData;
+    microphone @103 :Microphone;

    # systems stuff
    androidLog @20 :AndroidLogEntry;
@@ -2582,9 +2355,6 @@ struct Event {
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

-    # touch frame
-    touch @135 :List(Touch);
-
    # navigation
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
@@ -2592,62 +2362,41 @@ struct Event {
    mapRenderState @105: MapRenderState;

    # UI services
+    userFlag @93 :UserFlag;
    uiDebug @102 :UIDebug;

-    # driving feedback
-    userBookmark @93 :UserBookmark;
-    bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
-
    # *********** debug ***********
    testJoystick @52 :Joystick;
    roadEncodeData @86 :EncodeData;
    driverEncodeData @87 :EncodeData;
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;
-    alertDebug @133 :DebugAlert;

    livestreamRoadEncodeData @120 :EncodeData;
    livestreamWideRoadEncodeData @121 :EncodeData;
    livestreamDriverEncodeData @122 :EncodeData;

-    # *********** Custom: reserved for forks ***********
-
-    # DO change the name of the field
-    # DON'T change anything after the "@"
    customReservedRawData0 @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
-    dpControlsState @107 :Custom.DpControlsState;
-    modelExt @108 :Custom.ModelExt;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
+    # *********** Custom: reserved for forks ***********
+    controlsStateExt @107 :Custom.ControlsStateExt;
+    longitudinalPlanExt @108 :Custom.LongitudinalPlanExt;
+    teToo @109 :Custom.TeToo;
+    lateralPlan @110 :LateralPlan;
    customReserved4 @111 :Custom.CustomReserved4;
    customReserved5 @112 :Custom.CustomReserved5;
    customReserved6 @113 :Custom.CustomReserved6;
    customReserved7 @114 :Custom.CustomReserved7;
    customReserved8 @115 :Custom.CustomReserved8;
    customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
-    customReserved11 @137 :Custom.CustomReserved11;
-    customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
-    customReserved14 @140 :Custom.CustomReserved14;
-    customReserved15 @141 :Custom.CustomReserved15;
-    customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveMpcDEPRECATED @36 :LiveMpcData;
    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
    liveUIDEPRECATED @14 :Legacy.LiveUI;
    sensorEventDEPRECATED @4 :SensorEventData;
@@ -2684,8 +2433,5 @@ struct Event {
    lateralPlanDEPRECATED @64 :LateralPlan;
    navModelDEPRECATED @104 :NavModelData;
    uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
-    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
-    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
  }
 }
@@ -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);
+}
@@ -9,11 +9,11 @@ import os
 import capnp
 import time

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

 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage

 NO_TRAVERSAL_LIMIT = 2**64-1

@@ -92,71 +92,26 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
      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,
               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):
    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.alive = {s: False for s in services}
+    self.freq_ok = {s: False for s in services}
+    self.recv_dts: Dict[str, Deque[float]] = {}
    self.sock = {}
    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.max_freq = {}
+    self.min_freq = {}

-    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
@@ -181,7 +136,24 @@ class SubMaster:
        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.logMonoTime[s] = 0
+      self.valid[s] = True  # FIXME: this should default to False
+
+      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
+      if s == poll:
+        max_freq = freq
+        min_freq = freq
+      else:
+        max_freq = min(freq, self.update_freq)
+        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
+          min_freq = self.update_freq
+        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
+          min_freq = freq
+        else:
+          min_freq = min(freq, freq / 2.)
+      self.max_freq[s] = max_freq*1.2
+      self.min_freq[s] = min_freq*0.8
+      self.recv_dts[s] = deque(maxlen=int(10*freq))

  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]
@@ -201,7 +173,7 @@ class SubMaster:

  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
@@ -210,26 +182,54 @@ class SubMaster:
      self.seen[s] = True
      self.updated[s] = True

-      self.freq_tracker[s].record_recv_time(cur_time)
+      if self.recv_time[s] > 1e-5:
+        self.recv_dts[s].append(cur_time - self.recv_time[s])
      self.recv_time[s] = cur_time
      self.recv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-    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
+    for s in self.data:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
+        # alive if delay is within 10x the expected frequency
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
+
+        # check average frequency; slow to fall, quick to recover
+        dts = self.recv_dts[s]
+        assert dts.maxlen is not None
+        recent_dts = list(dts)[-int(dts.maxlen / 10):]
+        try:
+          avg_freq = 1 / (sum(dts) / len(dts))
+          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
+        except ZeroDivisionError:
+          avg_freq = 0
+          avg_freq_recent = 0
+
+        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
+        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
+        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
+      else:
+        self.freq_ok[s] = True
+        if self.simulation:
+          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
+        else:
+          self.alive[s] = True

  def all_alive(self, service_list: 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 service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)

  def all_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))
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))

  def all_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)
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)

  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)
@@ -1,71 +0,0 @@
-#include <cassert>
-
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
-#include "common/util.h"
-
-ExitHandler do_exit;
-
-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
-  std::vector<std::string> service_list;
-  for (const auto& it : services) {
-    std::string name = it.second.name;
-    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
-      continue;
-    }
-    service_list.push_back(name);
-  }
-  return service_list;
-}
-
-void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  MsgqToZmq bridge;
-  bridge.run(endpoints, ip);
-}
-
-void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
-
-  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
-    sub_sock->connect(sub_context.get(), endpoint, ip, false);
-
-    poller->registerSocket(sub_sock);
-    sub2pub[sub_sock] = pub_sock;
-  }
-
-  while (!do_exit) {
-    for (auto sub_sock : poller->poll(100)) {
-      std::unique_ptr<Message> msg(sub_sock->receive(true));
-      if (msg) {
-        sub2pub[sub_sock]->sendMessage(msg.get());
-      }
-    }
-  }
-
-  // Clean up allocated sockets
-  for (auto &[sub_sock, pub_sock] : sub2pub) {
-    delete sub_sock;
-    delete pub_sock;
-  }
-}
-
-int main(int argc, char **argv) {
-  bool is_zmq_to_msgq = argc > 2;
-  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
-  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
-
-  if (is_zmq_to_msgq) {
-    zmq_to_msgq(endpoints, ip);
-  } else {
-    msgq_to_zmq(endpoints, ip);
-  }
-  return 0;
-}
@@ -1,144 +0,0 @@
-#include "cereal/messaging/msgq_to_zmq.h"
-
-#include <cassert>
-
-#include "common/util.h"
-
-extern ExitHandler do_exit;
-
-// Max messages to process per socket per poll
-constexpr int MAX_MESSAGES_PER_SOCKET = 50;
-
-static std::string recv_zmq_msg(void *sock) {
-  zmq_msg_t msg;
-  zmq_msg_init(&msg);
-  std::string ret;
-  if (zmq_msg_recv(&msg, sock, 0) > 0) {
-    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
-
-  // Create ZMQPubSockets for each endpoint
-  for (const auto &endpoint : endpoints) {
-    auto &socket_pair = socket_pairs.emplace_back();
-    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
-    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
-    if (ret != 0) {
-      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
-      return;
-    }
-  }
-
-  // Start ZMQ monitoring thread to monitor socket events
-  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
-
-  // Main loop for processing messages
-  while (!do_exit) {
-    {
-      std::unique_lock lk(mutex);
-      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
-      if (do_exit) break;
-
-      for (auto sub_sock : msgq_poller->poll(100)) {
-        // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
-        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
-          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
-          if (!msg) break;
-
-          while (pub_sock->sendMessage(msg.get()) == -1) {
-            if (errno != EINTR) break;
-          }
-        }
-      }
-    }
-    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
-  }
-
-  thread.join();
-}
-
-void MsgqToZmq::zmqMonitorThread() {
-  std::vector<zmq_pollitem_t> pollitems;
-
-  // Set up ZMQ monitor for each pub socket
-  for (int i = 0; i < socket_pairs.size(); ++i) {
-    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
-
-    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
-    zmq_connect(monitor_socket, addr.c_str());
-    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
-  }
-
-  while (!do_exit) {
-    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
-    if (ret < 0) {
-      if (errno == EINTR) {
-        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
-        // to reduce CPU usage during retry attempts.
-        util::sleep_for(200);
-      }
-      continue;
-    }
-
-    for (int i = 0; i < pollitems.size(); ++i) {
-      if (pollitems[i].revents & ZMQ_POLLIN) {
-        // First frame in message contains event number and value
-        std::string frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        uint16_t event_type = *(uint16_t *)(frame.data());
-
-        // Second frame in message contains event address
-        frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        std::unique_lock lk(mutex);
-        auto &pair = socket_pairs[i];
-        if (event_type & ZMQ_EVENT_ACCEPTED) {
-          printf("socket [%s] connected\n", pair.endpoint.c_str());
-          if (++pair.connected_clients == 1) {
-            // Create new MSGQ subscriber socket and map to ZMQ publisher
-            pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
-            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
-            registerSockets();
-          }
-        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
-          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
-          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
-            // Remove MSGQ subscriber socket from mapping and reset it
-            sub2pub.erase(pair.sub_sock.get());
-            pair.sub_sock.reset(nullptr);
-            registerSockets();
-          }
-        }
-        cv.notify_one();
-      }
-    }
-  }
-
-  // Clean up monitor sockets
-  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
-    zmq_close(pollitems[i].socket);
-  }
-  cv.notify_one();
-}
-
-void MsgqToZmq::registerSockets() {
-  msgq_poller = std::make_unique<MSGQPoller>();
-  for (const auto &socket_pair : socket_pairs) {
-    if (socket_pair.sub_sock) {
-      msgq_poller->registerSocket(socket_pair.sub_sock.get());
-    }
-  }
-}
@@ -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;
-};
@@ -1,203 +0,0 @@
-#include <assert.h>
-#include <stdlib.h>
-#include <string>
-#include <mutex>
-
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
-
-const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
-
-static inline bool inList(const std::vector<const char *> &list, const char *value) {
-  for (auto &v : list) {
-    if (strcmp(value, v) == 0) return true;
-  }
-  return false;
-}
-
-class MessageContext {
-public:
-  MessageContext() : ctx_(nullptr) {}
-  ~MessageContext() { delete ctx_; }
-  inline Context *context() {
-    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
-    return ctx_;
-  }
-private:
-  Context *ctx_;
-  std::once_flag init_flag;
-};
-
-MessageContext message_context;
-
-struct SubMaster::SubMessage {
-  std::string name;
-  SubSocket *socket = nullptr;
-  float freq = 0.0f;
-  bool updated = false, alive = false, valid = false, ignore_alive;
-  uint64_t rcv_time = 0, rcv_frame = 0;
-  void *allocated_msg_reader = nullptr;
-  bool is_polled = false;
-  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  AlignedBuffer aligned_buf;
-  cereal::Event::Reader event;
-};
-
-SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
-                     const char *address, const std::vector<const char *> &ignore_alive) {
-  poller_ = Poller::create();
-  for (auto name : service_list) {
-    assert(services.count(std::string(name)) > 0);
-
-    service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
-    assert(socket != 0);
-    bool is_polled = inList(poll, name) || poll.empty();
-    if (is_polled) poller_->registerSocket(socket);
-    SubMessage *m = new SubMessage{
-      .name = name,
-      .socket = socket,
-      .freq = serv.frequency,
-      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .is_polled = is_polled};
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
-    messages_[socket] = m;
-    services_[name] = m;
-  }
-}
-
-void SubMaster::update(int timeout) {
-  for (auto &kv : messages_) kv.second->updated = false;
-
-  auto sockets = poller_->poll(timeout);
-
-  // add non-polled sockets for non-blocking receive
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    SubSocket *s = kv.first;
-    if (!m->is_polled) sockets.push_back(s);
-  }
-
-  uint64_t current_time = nanos_since_boot();
-
-  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
-
-  for (auto s : sockets) {
-    Message *msg = s->receive(true);
-    if (msg == nullptr) continue;
-
-    SubMessage *m = messages_.at(s);
-
-    m->msg_reader->~FlatArrayMessageReader();
-    capnp::ReaderOptions options;
-    options.traversalLimitInWords = kj::maxValue; // Don't limit
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
-    delete msg;
-    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
-  }
-
-  update_msgs(current_time, messages);
-}
-
-void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
-  if (++frame == UINT64_MAX) frame = 1;
-
-  for (auto &kv : messages) {
-    auto m_find = services_.find(kv.first);
-    if (m_find == services_.end()){
-      continue;
-    }
-    SubMessage *m = m_find->second;
-    m->event = kv.second;
-    m->updated = true;
-    m->rcv_time = current_time;
-    m->rcv_frame = frame;
-    m->valid = m->event.getValid();
-    if (SIMULATION) m->alive = true;
-  }
-
-  if (!SIMULATION) {
-    for (auto &kv : messages_) {
-      SubMessage *m = kv.second;
-      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
-    }
-  }
-}
-
-bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
-  int found = 0;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
-    }
-  }
-  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
-}
-
-void SubMaster::drain() {
-  while (true) {
-    auto polls = poller_->poll(0);
-    if (polls.size() == 0)
-      break;
-
-    for (auto sock : polls) {
-      Message *msg = sock->receive(true);
-      delete msg;
-    }
-  }
-}
-
-bool SubMaster::updated(const char *name) const {
-  return services_.at(name)->updated;
-}
-
-bool SubMaster::alive(const char *name) const {
-  return services_.at(name)->alive;
-}
-
-bool SubMaster::valid(const char *name) const {
-  return services_.at(name)->valid;
-}
-
-uint64_t SubMaster::rcv_frame(const char *name) const {
-  return services_.at(name)->rcv_frame;
-}
-
-uint64_t SubMaster::rcv_time(const char *name) const {
-  return services_.at(name)->rcv_time;
-}
-
-cereal::Event::Reader &SubMaster::operator[](const char *name) const {
-  return services_.at(name)->event;
-}
-
-SubMaster::~SubMaster() {
-  delete poller_;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->msg_reader->~FlatArrayMessageReader();
-    free(m->allocated_msg_reader);
-    delete m->socket;
-    delete m;
-  }
-}
-
-PubMaster::PubMaster(const std::vector<const char *> &service_list) {
-  for (auto name : service_list) {
-    assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
-    assert(socket);
-    sockets_[name] = socket;
-  }
-}
-
-int PubMaster::send(const char *name, MessageBuilder &msg) {
-  auto bytes = msg.toBytes();
-  return send(name, bytes.begin(), bytes.size());
-}
-
-PubMaster::~PubMaster() {
-  for (auto s : sockets_) delete s.second;
-}
@@ -1,185 +0,0 @@
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-from parameterized import parameterized
-import pytest
-
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
-
-def random_sock():
-  return random.choice(events)
-
-def random_socks(num_socks=10):
-  return list({random_sock() for _ in range(num_socks)})
-
-def random_bytes(length=1000):
-  return bytes([random.randrange(0xFF) for _ in range(length)])
-
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
-  msg = messaging.new_message("carState")
-  cs = msg.carState
-  for f in fields:
-    setattr(cs, f, random.random() * 10)
-  return msg
-
-# TODO: this should compare any capnp structs
-def assert_carstate(cs1, cs2):
-  for f in car.CarState.schema.non_union_fields:
-    # TODO: check all types
-    val1, val2 = getattr(cs1, f), getattr(cs2, f)
-    if isinstance(val1, numbers.Number):
-      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
-
-def delayed_send(delay, sock, dat):
-  def send_func():
-    sock.send(dat)
-  threading.Timer(delay, send_func).start()
-
-
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  @parameterized.expand(events)
-  def test_new_message(self, evt):
-    try:
-      msg = messaging.new_message(evt)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
-
-  @parameterized.expand(events)
-  def test_pub_sock(self, evt):
-    messaging.pub_sock(evt)
-
-  @parameterized.expand(events)
-  def test_sub_sock(self, evt):
-    messaging.sub_sock(evt)
-
-  @parameterized.expand([
-    (messaging.drain_sock, capnp._DynamicStructReader),
-    (messaging.drain_sock_raw, bytes),
-  ])
-  def test_drain_sock(self, func, expected_type):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no wait and no msgs in queue
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
-
-    # no wait but msgs are queued up
-    num_msgs = random.randrange(3, 10)
-    for _ in range(num_msgs):
-      pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
-
-  def test_recv_sock(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
-
-    # no wait and no msg in queue, socket should timeout
-    recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
-
-    # no wait and one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    time.sleep(0.01)
-    recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    # https://github.com/python/mypy/issues/13038
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no msg in queue, socket should timeout
-    recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
-  def test_recv_one_or_none(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
-
-    # no msg in queue, socket shouldn't block
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one_retry(self):
-    sock = "carState"
-    sock_timeout = 0.1
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
-
-    # wait 5 socket timeouts before sending
-    msg = random_carstate()
-    start_time = time.monotonic()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
-    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
@@ -1,160 +0,0 @@
-import random
-import time
-from typing import Sized, cast
-
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
-from cereal.services import SERVICE_LIST
-
-
-class TestSubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    sm = messaging.SubMaster(events)
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(events)
-
-  def test_init_state(self):
-    socks = random_socks()
-    sm = messaging.SubMaster(socks)
-    assert sm.frame == -1
-    assert not any(sm.updated.values())
-    assert not any(sm.seen.values())
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
-    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
-    assert all(t == 0. for t in sm.recv_time.values())
-    assert all(f == 0 for f in sm.recv_frame.values())
-    assert all(t == 0 for t in sm.logMonoTime.values())
-
-    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
-              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(socks)
-
-  def test_getitem(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    sm.update(1000)
-    assert_carstate(msg.carState, sm[sock])
-
-  # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
-  def test_update(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-    zmq_sleep()
-
-    for i in range(10):
-      msg = messaging.new_message(sock)
-      pub_sock.send(msg.to_bytes())
-      sm.update(1000)
-      assert sm.frame == i
-      assert all(sm.updated.values())
-
-  def test_update_timeout(self):
-    sock = random_sock()
-    sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
-    start_time = time.monotonic()
-    sm.update(timeout)
-    t = time.monotonic() - start_time
-    assert t >= timeout/1000.
-    assert t < 3
-    assert not any(sm.updated.values())
-
-  def test_avg_frequency_checks(self):
-    for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
-                               poll=("modelV2" if poll else None),
-                               frequency=(20. if not poll else None))
-
-      checks = {
-        "carState": (20, 20),
-        "modelV2": (20, 20 if poll else 10),
-        "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
-        "carParams": (None, None),
-        "userBookmark": (None, None),
-      }
-
-      for service, (max_freq, min_freq) in checks.items():
-        if max_freq is not None:
-          assert sm._check_avg_freq(service)
-          assert sm.freq_tracker[service].max_freq == max_freq*1.2
-          assert sm.freq_tracker[service].min_freq == min_freq*0.8
-        else:
-          assert not sm._check_avg_freq(service)
-
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
-  # SubMaster should always conflate
-  def test_conflate(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sm = messaging.SubMaster([sock,])
-
-    n = 10
-    for i in range(n+1):
-      msg = messaging.new_message(sock)
-      msg.carState.vEgo = i
-      pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
-    sm.update(1000)
-    assert sm[sock].vEgo == n
-
-
-class TestPubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
-  def test_init(self):
-    messaging.PubMaster(events)
-
-  def test_send(self):
-    socks = random_socks()
-    pm = messaging.PubMaster(socks)
-    sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
-
-    # PubMaster accepts either a capnp msg builder or bytes
-    for capnp in [True, False]:
-      for i in range(100):
-        sock = socks[i % len(socks)]
-
-        if capnp:
-          try:
-            msg = messaging.new_message(sock)
-          except Exception:
-            msg = messaging.new_message(sock, random.randrange(50))
-        else:
-          msg = random_bytes()
-
-        pm.send(sock, msg)
-        recvd = sub_socks[sock].receive()
-
-        if capnp:
-          msg.clear_write_flag()
-          msg = msg.to_bytes()
-        assert msg == recvd, i
@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"
@@ -0,0 +1,88 @@
+/* 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}},
+  { "can", {"can", true, 100, 2053}},
+  { "controlsState", {"controlsState", 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}},
+  { "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}},
+  { "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}},
+  { "liveLocationKalman", {"liveLocationKalman", true, 20, -1}},
+  { "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}},
+  { "userFlag", {"userFlag", true, 0, 1}},
+  { "microphone", {"microphone", true, 10, 10}},
+  { "uiDebug", {"uiDebug", true, 0, 1}},
+  { "testJoystick", {"testJoystick", true, 0, -1}},
+  { "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}},
+  { "controlsStateExt", {"controlsStateExt", false, 100, 10}},
+  { "longitudinalPlanExt", {"longitudinalPlanExt", false, 20, 5}},
+  { "teToo", {"teToo", false, 5, -1}},
+  { "lateralPlan", {"lateralPlan", false, 20, 5}},
+};
+#endif
+
@@ -22,10 +22,8 @@ _services: dict[str, tuple] = {
  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
-  "selfdriveState": (True, 100., 10),
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
@@ -36,13 +34,11 @@ _services: dict[str, tuple] = {
  "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),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
@@ -52,9 +48,10 @@ _services: dict[str, tuple] = {
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20.),
  "liveParameters": (True, 20., 5),
  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
+  "thumbnail": (True, 0.2, 1),
  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
@@ -72,16 +69,12 @@ _services: dict[str, tuple] = {
  "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),
+  "userFlag": (True, 0., 1),
+  "microphone": (True, 10., 10),

  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
-  "alertDebug": (True, 20., 5),
  "roadEncodeData": (False, 20.),
  "driverEncodeData": (False, 20.),
  "wideRoadEncodeData": (False, 20.),
@@ -95,8 +88,12 @@ _services: dict[str, tuple] = {
  "customReservedRawData0": (True, 0.),
  "customReservedRawData1": (True, 0.),
  "customReservedRawData2": (True, 0.),
-  "dpControlsState": (False, 100., 10),
-  "modelExt": (True, 20.),
+
+  # dp
+  "controlsStateExt": (False, 100., 10),
+  "longitudinalPlanExt": (False, 20., 5),
+  "teToo": (False, 5),
+  "lateralPlan": (False, 20., 5),
 }
 SERVICE_LIST = {name: Service(*vals) for
                idx, (name, vals) in enumerate(_services.items())}
@@ -111,12 +108,12 @@ def build_header():
  h += "#include <map>\n"
  h += "#include <string>\n"

-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
  h += "static std::map<std::string, service> services = {\n"
  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
         (k, k, should_log, v.frequency, decimation)
  h += "};\n"

@@ -0,0 +1,13 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
+ignore:
+  - "**/test_*.py"
+  - "selfdrive/test/**"
+  - "system/version.py" # codecov changes depending on if we are in a branch or not
+  - "tools"
@@ -1,29 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-  'clutil.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-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')
@@ -1,48 +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, payload_extra=None, 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)
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    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 +1,46 @@
+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)
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
@@ -23,6 +23,7 @@

 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 +1,8 @@
+import platform
+
+
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
@@ -1,10 +1,6 @@
-import io
 import os
 import tempfile
 import contextlib
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change


 class CallbackReader:
@@ -39,20 +35,3 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
    yield tmp_file
    tmp_file_name = tmp_file.name
  os.replace(tmp_file_name, 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
@@ -1,4 +1,5 @@
 class FirstOrderFilter:
+  # first order filter
  def __init__(self, x0, rc, dt, initialized=True):
    self.x = x0
    self.dt = dt
@@ -0,0 +1,33 @@
+#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_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
+  #define GPIO_STM_RST_N        124
+  #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
+#else
+  #define GPIO_HUB_RST_N        0
+  #define GPIO_UBLOX_RST_N      0
+  #define GPIO_UBLOX_SAFEBOOT_N 0
+  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
+  #define GPIO_STM_RST_N        0
+  #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
+#endif
+
+int gpio_init(int pin_nr, bool output);
+int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
@@ -1,6 +1,4 @@
 import os
-import fcntl
-import ctypes
 from functools import cache

 def gpio_init(pin: int, output: bool) -> None:
@@ -54,36 +52,3 @@ def get_irqs_for_action(action: str) -> list[str]:
      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 +1,19 @@
+#pragma once
+
+#include <cstdint>
+#include <mutex>
+
+#include <sys/types.h>
+
+class I2CBus {
+  private:
+    int i2c_fd;
+    std::mutex m;
+
+  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);
+};
@@ -8,7 +8,6 @@ import uuid
 import socket
 import logging
 import traceback
-import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -16,8 +15,6 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ

 def json_handler(obj):
-  if isinstance(obj, np.bool_):
-    return bool(obj)
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
  return repr(obj)
@@ -199,6 +196,7 @@ class SwagLogger(logging.Logger):
      co = f.f_code
      filename = os.path.normcase(co.co_filename)

+      # TODO: is this pylint exception correct?
      if filename == _srcfile:
        f = f.f_back
        continue
@@ -8,12 +8,12 @@ import functools
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_liveLocationKalman
 from openpilot.common.realtime import Ratekeeper


 MOCK_GENERATOR = {
-  "livePose": generate_livePose
+  "liveLocationKalman": generate_liveLocationKalman
 }


@@ -1,14 +1,20 @@
 from cereal import messaging


-def generate_livePose():
-  msg = messaging.new_message('livePose')
-  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
+LOCATION1 = (32.7174, -117.16277)
+LOCATION2 = (32.7558, -117.2037)
+
+LLK_DECIMATION = 10
+RENDER_FRAMES = 15
+DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
+
+
+def generate_liveLocationKalman(location=LOCATION1):
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  msg.liveLocationKalman.gpsOK = True
  return msg
@@ -0,0 +1,19 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+def interp(x, xp, fp):
+  N = len(xp)
+
+  def get_interp(xv):
+    hi = 0
+    while hi < N and xv > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)
@@ -1,242 +0,0 @@
-#include "common/params.h"
-
-#include <dirent.h>
-#include <sys/file.h>
-
-#include <algorithm>
-#include <cassert>
-#include <csignal>
-#include <unordered_map>
-
-#include "common/params_keys.h"
-#include "common/queue.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-namespace {
-
-volatile sig_atomic_t params_do_exit = 0;
-void params_sig_handler(int signal) {
-  params_do_exit = 1;
-}
-
-int fsync_dir(const std::string &path) {
-  int result = -1;
-  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
-  if (fd >= 0) {
-    result = HANDLE_EINTR(fsync(fd));
-    HANDLE_EINTR(close(fd));
-  }
-  return result;
-}
-
-bool create_params_path(const std::string &param_path, const std::string &key_path) {
-  // Make sure params path exists
-  if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
-    return false;
-  }
-
-  // See if the symlink exists, otherwise create it
-  if (!util::file_exists(key_path)) {
-    // 1) Create temp folder
-    // 2) Symlink it to temp link
-    // 3) Move symlink to <params>/d
-
-    std::string tmp_path = param_path + "/.tmp_XXXXXX";
-    // this should be OK since mkdtemp just replaces characters in place
-    char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
-    if (tmp_dir == NULL) {
-      return false;
-    }
-
-    std::string link_path = std::string(tmp_dir) + ".link";
-    if (symlink(tmp_dir, link_path.c_str()) != 0) {
-      return false;
-    }
-
-    // don't return false if it has been created by other
-    if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
-      return false;
-    }
-  }
-
-  return true;
-}
-
-std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
-  std::string params_path = path.empty() ? Path::params() : path;
-  if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format(
-        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
-        errno, params_path.c_str(), prefix.c_str()));
-  }
-  return params_path;
-}
-
-class FileLock {
-public:
-  FileLock(const std::string &fn) {
-    fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
-    if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
-      LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
-    }
-  }
-  ~FileLock() { close(fd_); }
-
-private:
-  int fd_ = -1;
-};
-
-} // namespace
-
-
-Params::Params(const std::string &path) {
-  params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-  params_path = ensure_params_path(params_prefix, path);
-}
-
-Params::~Params() {
-  if (future.valid()) {
-    future.wait();
-  }
-  assert(queue.empty());
-}
-
-std::vector<std::string> Params::allKeys() const {
-  std::vector<std::string> ret;
-  for (auto &p : keys) {
-    ret.push_back(p.first);
-  }
-  return ret;
-}
-
-bool Params::checkKey(const std::string &key) {
-  return keys.find(key) != keys.end();
-}
-
-ParamKeyFlag Params::getKeyFlag(const std::string &key) {
-  return static_cast<ParamKeyFlag>(keys[key].flags);
-}
-
-ParamKeyType Params::getKeyType(const std::string &key) {
-  return keys[key].type;
-}
-
-std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
-  return keys[key].default_value;
-}
-
-int Params::put(const char* key, const char* value, size_t value_size) {
-  // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
-  // 1) Create temp file
-  // 2) Write data to temp file
-  // 3) fsync() the temp file
-  // 4) rename the temp file to the real name
-  // 5) fsync() the containing directory
-  std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
-  int tmp_fd = mkstemp((char*)tmp_path.c_str());
-  if (tmp_fd < 0) return -1;
-
-  int result = -1;
-  do {
-    // Write value to temp.
-    ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
-    if (bytes_written < 0 || (size_t)bytes_written != value_size) {
-      result = -20;
-      break;
-    }
-
-    // fsync to force persist the changes.
-    if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
-
-    FileLock file_lock(params_path + "/.lock");
-
-    // Move temp into place.
-    if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
-
-    // fsync parent directory
-    result = fsync_dir(getParamPath());
-  } while (false);
-
-  close(tmp_fd);
-  if (result != 0) {
-    ::unlink(tmp_path.c_str());
-  }
-  return result;
-}
-
-int Params::remove(const std::string &key) {
-  FileLock file_lock(params_path + "/.lock");
-  int result = unlink(getParamPath(key).c_str());
-  if (result != 0) {
-    return result;
-  }
-  return fsync_dir(getParamPath());
-}
-
-std::string Params::get(const std::string &key, bool block) {
-  if (!block) {
-    return util::read_file(getParamPath(key));
-  } else {
-    // blocking read until successful
-    params_do_exit = 0;
-    void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
-    void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
-
-    std::string value;
-    while (!params_do_exit) {
-      if (value = util::read_file(getParamPath(key)); !value.empty()) {
-        break;
-      }
-      util::sleep_for(100);  // 0.1 s
-    }
-
-    std::signal(SIGINT, prev_handler_sigint);
-    std::signal(SIGTERM, prev_handler_sigterm);
-    return value;
-  }
-}
-
-std::map<std::string, std::string> Params::readAll() {
-  FileLock file_lock(params_path + "/.lock");
-  return util::read_files_in_dir(getParamPath());
-}
-
-void Params::clearAll(ParamKeyFlag key_flag) {
-  FileLock file_lock(params_path + "/.lock");
-
-  // 1) delete params of key_flag
-  // 2) delete files that are not defined in the keys.
-  if (DIR *d = opendir(getParamPath().c_str())) {
-    struct dirent *de = NULL;
-    while ((de = readdir(d))) {
-      if (de->d_type != DT_DIR) {
-        auto it = keys.find(de->d_name);
-        if (it == keys.end() || (it->second.flags & key_flag)) {
-          unlink(getParamPath(de->d_name).c_str());
-        }
-      }
-    }
-    closedir(d);
-  }
-
-  fsync_dir(getParamPath());
-}
-
-void Params::putNonBlocking(const std::string &key, const std::string &val) {
-   queue.push(std::make_pair(key, val));
-  // start thread on demand
-  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
-    future = std::async(std::launch::async, &Params::asyncWriteThread, this);
-  }
-}
-
-void Params::asyncWriteThread() {
-  // TODO: write the latest one if a key has multiple values in the queue.
-  std::pair<std::string, std::string> p;
-  while (queue.try_pop(p, 0)) {
-    // Params::put is Thread-Safe
-    put(p.first, p.second);
-  }
-}
@@ -2,7 +2,6 @@

 #include <future>
 #include <map>
-#include <optional>
 #include <string>
 #include <tuple>
 #include <utility>
@@ -10,33 +9,16 @@

 #include "common/queue.h"

-enum ParamKeyFlag {
+enum ParamKeyType {
  PERSISTENT = 0x02,
  CLEAR_ON_MANAGER_START = 0x04,
  CLEAR_ON_ONROAD_TRANSITION = 0x08,
  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
  DONT_LOG = 0x20,
  DEVELOPMENT_ONLY = 0x40,
-  CLEAR_ON_IGNITION_ON = 0x80,
  ALL = 0xFFFFFFFF
 };

-enum ParamKeyType {
-  STRING = 0, // must be utf-8 decodable
-  BOOL = 1,
-  INT = 2,
-  FLOAT = 3,
-  TIME = 4, // ISO 8601
-  JSON = 5,
-  BYTES = 6
-};
-
-struct ParamKeyAttributes {
-  uint32_t flags;
-  ParamKeyType type;
-  std::optional<std::string> default_value = std::nullopt;
-};
-
 class Params {
 public:
  explicit Params(const std::string &path = {});
@@ -47,16 +29,14 @@ public:

  std::vector<std::string> allKeys() const;
  bool checkKey(const std::string &key);
-  ParamKeyFlag getKeyFlag(const std::string &key);
  ParamKeyType getKeyType(const std::string &key);
-  std::optional<std::string> getKeyDefaultValue(const std::string &key);
  inline std::string getParamPath(const std::string &key = {}) {
    return params_path + params_prefix + (key.empty() ? "" : "/" + key);
  }

  // Delete a value
  int remove(const std::string &key);
-  void clearAll(ParamKeyFlag flag);
+  void clearAll(ParamKeyType type);

  // helpers for reading values
  std::string get(const std::string &key, bool block = false);
@@ -1,6 +1,5 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
 assert Params
-assert ParamKeyFlag
 assert ParamKeyType
 assert UnknownKeyName

@@ -1,163 +0,0 @@
-#pragma once
-
-#include <string>
-#include <unordered_map>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
-    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
-    {"AdbEnabled", {PERSISTENT, BOOL}},
-    {"AlwaysOnDM", {PERSISTENT, BOOL}},
-    {"ApiCache_Device", {PERSISTENT, STRING}},
-    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
-    {"AssistNowToken", {PERSISTENT, STRING}},
-    {"AthenadPid", {PERSISTENT, INT}},
-    {"AthenadUploadQueue", {PERSISTENT, JSON}},
-    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
-    {"BootCount", {PERSISTENT, INT}},
-    {"CalibrationParams", {PERSISTENT, BYTES}},
-    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
-    {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
-    {"CarBatteryCapacity", {PERSISTENT, INT}},
-    {"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
-    {"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"CarParamsPersistent", {PERSISTENT, BYTES}},
-    {"CarParamsPrevRoute", {PERSISTENT, BYTES}},
-    {"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
-    {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"CurrentBootlog", {PERSISTENT, STRING}},
-    {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"DisableLogging", {PERSISTENT, BOOL, "0"}},
-    {"DisablePowerDown", {PERSISTENT, BOOL}},
-    {"DisableUpdates", {PERSISTENT, BOOL}},
-    {"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
-    {"DongleId", {PERSISTENT, STRING}},
-    {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
-    {"ExperimentalMode", {PERSISTENT, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
-    {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"ForcePowerDown", {PERSISTENT, BOOL}},
-    {"GitBranch", {PERSISTENT, STRING}},
-    {"GitCommit", {PERSISTENT, STRING}},
-    {"GitCommitDate", {PERSISTENT, STRING}},
-    {"GitDiff", {PERSISTENT, STRING}},
-    {"GithubSshKeys", {PERSISTENT, STRING}},
-    {"GithubUsername", {PERSISTENT, STRING}},
-    {"GitRemote", {PERSISTENT, STRING}},
-    {"GsmApn", {PERSISTENT, STRING}},
-    {"GsmMetered", {PERSISTENT, BOOL, "1"}},
-    {"GsmRoaming", {PERSISTENT, BOOL}},
-    {"HardwareSerial", {PERSISTENT, STRING}},
-    {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
-    {"InstallDate", {PERSISTENT, TIME}},
-    {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsEngaged", {PERSISTENT, BOOL}},
-    {"IsLdwEnabled", {PERSISTENT, BOOL}},
-    {"IsMetric", {PERSISTENT, BOOL}},
-    {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsOnroad", {PERSISTENT, BOOL}},
-    {"IsRhdDetected", {PERSISTENT, BOOL}},
-    {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LanguageSetting", {PERSISTENT, STRING, "en"}},
-    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"LastGPSPosition", {PERSISTENT, STRING}},
-    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
-    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
-    {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"LiveDelay", {PERSISTENT, BYTES}},
-    {"LiveParameters", {PERSISTENT, JSON}},
-    {"LiveParametersV2", {PERSISTENT, BYTES}},
-    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
-    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
-    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"NetworkMetered", {PERSISTENT, BOOL}},
-    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
-    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
-    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"PrimeType", {PERSISTENT, INT}},
-    {"RecordAudio", {PERSISTENT, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
-    {"RecordFront", {PERSISTENT, BOOL}},
-    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
-    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
-    {"RouteCount", {PERSISTENT, INT, "0"}},
-    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"SshEnabled", {PERSISTENT, BOOL}},
-    {"TermsVersion", {PERSISTENT, STRING}},
-    {"TrainingVersion", {PERSISTENT, STRING}},
-    {"UbloxAvailable", {PERSISTENT, BOOL}},
-    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
-    {"UpdaterAvailableBranches", {PERSISTENT, STRING}},
-    {"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
-    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"Version", {PERSISTENT, STRING}},
-    {"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
-    {"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_monitoring_disabled", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
-    {"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
-    {"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
-    {"dp_dev_model_selected", {PERSISTENT, STRING}},
-    {"dp_dev_model_list", {PERSISTENT, STRING}},
-    {"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
-    {"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
-    {"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
-    {"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
-    {"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
-    {"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_dtsc", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_audible_alert_mode", {PERSISTENT, INT, "0"}},
-    {"dp_dev_auto_shutdown_in", {PERSISTENT, INT, "-5"}},
-    {"dp_ui_lead", {PERSISTENT, INT, "0"}},
-    {"dp_dev_dashy", {PERSISTENT, INT, "0"}},
-    {"dp_dev_delay_loggerd", {PERSISTENT, INT, "0"}},
-    {"dp_dev_disable_connect", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
-    {"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
-    {"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
-    {"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
-};
@@ -1,34 +1,18 @@
 # distutils: language = c++
 # cython: language_level = 3
-import builtins
-import datetime
-import json
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.optional cimport optional
-
-from openpilot.common.swaglog import cloudlog

 cdef extern from "common/params.h":
-  cpdef enum ParamKeyFlag:
+  cpdef enum ParamKeyType:
    PERSISTENT
    CLEAR_ON_MANAGER_START
    CLEAR_ON_ONROAD_TRANSITION
    CLEAR_ON_OFFROAD_TRANSITION
    DEVELOPMENT_ONLY
-    CLEAR_ON_IGNITION_ON
    ALL

-  cpdef enum ParamKeyType:
-    STRING
-    BOOL
-    INT
-    FLOAT
-    TIME
-    JSON
-    BYTES
-
  cdef cppclass c_Params "Params":
    c_Params(string) except + nogil
    string get(string, bool) nogil
@@ -39,31 +23,10 @@ cdef extern from "common/params.h":
    void putBoolNonBlocking(string, bool) nogil
    int putBool(string, bool) nogil
    bool checkKey(string) nogil
-    ParamKeyType getKeyType(string) nogil
-    optional[string] getKeyDefaultValue(string) nogil
    string getParamPath(string) nogil
-    void clearAll(ParamKeyFlag)
+    void clearAll(ParamKeyType)
    vector[string] allKeys()

-PYTHON_2_CPP = {
-  (str, STRING): lambda v: v,
-  (builtins.bool, BOOL): lambda v: "1" if v else "0",
-  (int, INT): str,
-  (float, FLOAT): str,
-  (datetime.datetime, TIME): lambda v: v.isoformat(),
-  (dict, JSON): json.dumps,
-  (list, JSON): json.dumps,
-  (bytes, BYTES): lambda v: v,
-}
-CPP_2_PYTHON = {
-  STRING: lambda v: v.decode("utf-8"),
-  BOOL: lambda v: v == b"1",
-  INT: int,
-  FLOAT: float,
-  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
-  JSON: json.loads,
-  BYTES: lambda v: v,
-}

 def ensure_bytes(v):
  return v.encode() if isinstance(v, str) else v
@@ -73,22 +36,17 @@ class UnknownKeyName(Exception):

 cdef class Params:
  cdef c_Params* p
-  cdef str d

  def __cinit__(self, d=""):
    cdef string path = <string>d.encode()
    with nogil:
      self.p = new c_Params(path)
-    self.d = d
-
-  def __reduce__(self):
-    return (type(self), (self.d,))

  def __dealloc__(self):
    del self.p

-  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-    self.p.clearAll(tx_flag)
+  def clear_all(self, tx_type=ParamKeyType.ALL):
+    self.p.clearAll(tx_type)

  def check_key(self, key):
    key = ensure_bytes(key)
@@ -96,38 +54,21 @@ cdef class Params:
      raise UnknownKeyName(key)
    return key

-  def python2cpp(self, proposed_type, expected_type, value, key):
-    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
-    if cast:
-      return cast(value)
-    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
-
-  def _cpp2python(self, t, value, default, key):
-    if value is None:
-      return None
-    try:
-      return CPP_2_PYTHON[t](value)
-    except (KeyError, TypeError, ValueError):
-      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self._cpp2python(t, default, None, key)
-
-  def get(self, key, bool block=False, bool return_default=False):
+  def get(self, key, bool block=False, encoding=None):
    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
    cdef string val
    with nogil:
      val = self.p.get(k, block)

-    default_val = (default.value() if default.has_value() else None) if return_default else None
    if val == b"":
      if block:
        # If we got no value while running in blocked mode
        # it means we got an interrupt while waiting
        raise KeyboardInterrupt
      else:
-        return self._cpp2python(t, default_val, None, key)
-    return self._cpp2python(t, val, default_val, key)
+        return None
+
+    return val if encoding is None else val.decode(encoding)

  def get_bool(self, key, bool block=False):
    cdef string k = self.check_key(key)
@@ -136,11 +77,6 @@ cdef class Params:
      r = self.p.getBool(k, block)
    return r

-  def _put_cast(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
-
  def put(self, key, dat):
    """
    Warning: This function blocks until the param is written to disk!
@@ -149,7 +85,7 @@ cdef class Params:
    in general try to avoid writing params as much as possible.
    """
    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
+    cdef string dat_bytes = ensure_bytes(dat)
    with nogil:
      self.p.put(k, dat_bytes)

@@ -160,7 +96,7 @@ cdef class Params:

  def put_nonblocking(self, key, dat):
    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
+    cdef string dat_bytes = ensure_bytes(dat)
    with nogil:
      self.p.putNonBlocking(k, dat_bytes)

@@ -178,19 +114,5 @@ cdef class Params:
    cdef string key_bytes = ensure_bytes(key)
    return self.p.getParamPath(key_bytes).decode("utf-8")

-  def get_type(self, key):
-    return self.p.getKeyType(self.check_key(key))
-
  def all_keys(self):
    return self.p.allKeys()
-
-  def get_default_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
-
-  def cpp2python(self, key, value):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return self._cpp2python(t, value, None, key)
@@ -1,64 +0,0 @@
-import numpy as np
-from numbers import Number
-
-class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
-
-    self.set_limits(pos_limit, neg_limit)
-
-    self.i_dt = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return np.interp(self.speed, self._k_p[0], self._k_p[1])
-
-  @property
-  def k_i(self):
-    return np.interp(self.speed, self._k_i[0], self._k_i[1])
-
-  @property
-  def k_d(self):
-    return np.interp(self.speed, self._k_d[0], self._k_d[1])
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.d = 0.0
-    self.f = 0.0
-    self.control = 0
-
-  def set_limits(self, pos_limit, neg_limit):
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
-    self.speed = speed
-    self.p = self.k_p * float(error)
-    self.d = self.k_d * error_rate
-    self.f = self.k_f * feedforward
-
-    if not freeze_integrator:
-      i = self.i + self.k_i * self.i_dt * error
-
-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
-
-    control = self.p + self.i + self.d + self.f
-    self.control = np.clip(control, self.neg_limit, self.pos_limit)
-    return self.control
@@ -13,7 +13,7 @@ public:
    if (prefix.empty()) {
      prefix = util::random_string(15);
    }
-    msgq_path = Path::shm_path() + "/" + prefix;
+    msgq_path = "/dev/shm/" + prefix;
    bool ret = util::create_directories(msgq_path, 0777);
    assert(ret);
    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -9,19 +9,20 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
-    self.create_dirs_on_enter = create_dirs_on_enter
+    self.msgq_path = os.path.join('/dev/shm', self.prefix)
    self.clean_dirs_on_exit = clean_dirs_on_exit
    self.shared_download_cache = shared_download_cache

  def __enter__(self):
    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
    os.environ['OPENPILOT_PREFIX'] = self.prefix
-
-    if self.create_dirs_on_enter:
-      self.create_dirs()
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)

    if self.shared_download_cache:
      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -39,13 +40,6 @@ class OpenpilotPrefix:
      pass
    return False

-  def create_dirs(self):
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
-
  def clean_dirs(self):
    symlink_path = Params().get_param_path()
    if os.path.exists(symlink_path):
@@ -1,40 +0,0 @@
-#include "common/ratekeeper.h"
-
-#include <algorithm>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
-  interval = 1 / rate;
-  last_monitor_time = seconds_since_boot();
-  next_frame_time = last_monitor_time + interval;
-}
-
-bool RateKeeper::keepTime() {
-  bool lagged = monitorTime();
-  if (remaining_ > 0) {
-    util::sleep_for(remaining_ * 1000);
-  }
-  return lagged;
-}
-
-bool RateKeeper::monitorTime() {
-  ++frame_;
-  last_monitor_time = seconds_since_boot();
-  remaining_ = next_frame_time - last_monitor_time;
-
-  bool lagged = remaining_ < 0;
-  if (lagged) {
-    if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
-      LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
-    }
-    next_frame_time = last_monitor_time + interval;
-  } else {
-    next_frame_time += interval;
-  }
-  return lagged;
-}
@@ -1,12 +1,11 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
 import gc
 import os
-import sys
 import time
+from collections import deque

-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname

-from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC


@@ -28,15 +27,19 @@ class Priority:
  CTRL_HIGH = 53


+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+
+
 def set_core_affinity(cores: list[int]) -> None:
-  if sys.platform == 'linux' and not PC:
+  if not PC:
    os.sched_setaffinity(0, cores)


 def config_realtime_process(cores: int | list[int], priority: int) -> None:
  gc.disable()
-  if sys.platform == 'linux' and not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
+  set_realtime_priority(priority)
  c = cores if isinstance(cores, list) else [cores, ]
  set_core_affinity(c)

@@ -45,15 +48,13 @@ class Ratekeeper:
  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
+    self._next_frame_time = time.monotonic() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
-    self._process_name = getproctitle()
-    self._last_monitor_time = -1.
-    self._next_frame_time = -1.
-
-    self.avg_dt = MovingAverage(100)
-    self.avg_dt.add_value(self._interval)
+    self._thread_name = getthreadname()
+    self._dts = deque([self._interval], maxlen=100)
+    self._last_monitor_time = time.monotonic()

  @property
  def frame(self) -> int:
@@ -65,8 +66,9 @@ class Ratekeeper:

  @property
  def lagging(self) -> bool:
+    avg_dt = sum(self._dts) / len(self._dts)
    expected_dt = self._interval * (1 / 0.9)
-    return self.avg_dt.get_average() > expected_dt
+    return avg_dt > expected_dt

  # Maintain loop rate by calling this at the end of each loop
  def keep_time(self) -> bool:
@@ -77,19 +79,15 @@ class Ratekeeper:

  # Monitors the cumulative lag, but does not enforce a rate
  def monitor_time(self) -> bool:
-    if self._last_monitor_time < 0:
-      self._next_frame_time = time.monotonic() + self._interval
-      self._last_monitor_time = time.monotonic()
-
    prev = self._last_monitor_time
    self._last_monitor_time = time.monotonic()
-    self.avg_dt.add_value(self._last_monitor_time - prev)
+    self._dts.append(self._last_monitor_time - prev)

    lagged = False
    remaining = self._next_frame_time - time.monotonic()
    self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
    self._frame += 1
    self._remaining = remaining
@@ -1,6 +1,4 @@
 import subprocess
-from contextlib import contextmanager
-from subprocess import Popen, PIPE, TimeoutExpired


 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -13,16 +11,3 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
  except subprocess.CalledProcessError:
    return default

-
-@contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
@@ -6,9 +6,9 @@ from openpilot.common.basedir import BASEDIR
 class Spinner:
  def __init__(self):
    try:
-      self.spinner_proc = subprocess.Popen(["./spinner.py"],
+      self.spinner_proc = subprocess.Popen(["./spinner"],
                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
                                           close_fds=True)
    except OSError:
      self.spinner_proc = None
@@ -1,155 +0,0 @@
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#endif
-
-#include "common/swaglog.h"
-
-#include <cassert>
-#include <limits>
-#include <mutex>
-#include <string>
-
-#include <zmq.h>
-#include <stdarg.h>
-#include "third_party/json11/json11.hpp"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-class SwaglogState {
-public:
-  SwaglogState() {
-    zctx = zmq_ctx_new();
-    sock = zmq_socket(zctx, ZMQ_PUSH);
-
-    // Timeout on shutdown for messages to be received by the logging process
-    int timeout = 100;
-    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
-    zmq_connect(sock, Path::swaglog_ipc().c_str());
-
-    // workaround for https://github.com/dropbox/json11/issues/38
-    setlocale(LC_NUMERIC, "C");
-
-    print_level = CLOUDLOG_WARNING;
-    if (const char* print_lvl = getenv("LOGPRINT")) {
-      if (strcmp(print_lvl, "debug") == 0) {
-        print_level = CLOUDLOG_DEBUG;
-      } else if (strcmp(print_lvl, "info") == 0) {
-        print_level = CLOUDLOG_INFO;
-      } else if (strcmp(print_lvl, "warning") == 0) {
-        print_level = CLOUDLOG_WARNING;
-      }
-    }
-
-    ctx_j = json11::Json::object{};
-    if (char* dongle_id = getenv("DONGLE_ID")) {
-      ctx_j["dongle_id"] = dongle_id;
-    }
-    if (char* git_origin = getenv("GIT_ORIGIN")) {
-      ctx_j["origin"] = git_origin;
-    }
-    if (char* git_branch = getenv("GIT_BRANCH")) {
-      ctx_j["branch"] = git_branch;
-    }
-    if (char* git_commit = getenv("GIT_COMMIT")) {
-      ctx_j["commit"] = git_commit;
-    }
-    if (char* daemon_name = getenv("MANAGER_DAEMON")) {
-      ctx_j["daemon"] = daemon_name;
-    }
-    ctx_j["version"] = COMMA_VERSION;
-    ctx_j["dirty"] = !getenv("CLEAN");
-    ctx_j["device"] = Hardware::get_name();
-  }
-
-  ~SwaglogState() {
-    zmq_close(sock);
-    zmq_ctx_destroy(zctx);
-  }
-
-  void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
-    std::lock_guard lk(lock);
-    if (levelnum >= print_level) {
-      printf("%s: %s\n", filename, msg);
-    }
-    zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
-  }
-
-  std::mutex lock;
-  void* zctx = nullptr;
-  void* sock = nullptr;
-  int print_level;
-  json11::Json::object ctx_j;
-};
-
-bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
-uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
-
-static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, const json11::Json::object &msg_j={}) {
-  static SwaglogState s;
-
-  json11::Json::object log_j = json11::Json::object {
-    {"ctx", s.ctx_j},
-    {"levelnum", levelnum},
-    {"filename", filename},
-    {"lineno", lineno},
-    {"funcname", func},
-    {"created", seconds_since_epoch()}
-  };
-  if (msg_j.empty()) {
-    log_j["msg"] = msg_buf;
-  } else {
-    log_j["msg"] = msg_j;
-  }
-
-  std::string log_s;
-  log_s += (char)levelnum;
-  ((json11::Json)log_j).dump(log_s);
-  s.log(levelnum, filename, lineno, func, msg_buf, log_s);
-
-  free(msg_buf);
-}
-
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  char* msg_buf = nullptr;
-  int ret = vasprintf(&msg_buf, fmt, args);
-  va_end(args);
-  if (ret <= 0 || !msg_buf) return;
-  cloudlog_common(levelnum, filename, lineno, func, msg_buf);
-}
-
-void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
-                       uint32_t frame_id, const char* fmt, va_list args) {
-  if (!LOG_TIMESTAMPS) return;
-  char* msg_buf = nullptr;
-  int ret = vasprintf(&msg_buf, fmt, args);
-  if (ret <= 0 || !msg_buf) return;
-  json11::Json::object tspt_j = json11::Json::object{
-    {"event", msg_buf},
-    {"time", std::to_string(nanos_since_boot())}
-  };
-  if (frame_id < NO_FRAME_ID) {
-    tspt_j["frame_id"] = std::to_string(frame_id);
-  }
-  tspt_j = json11::Json::object{{"timestamp", tspt_j}};
-  cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
-}
-
-
-void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
-  va_end(args);
-}
-void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 uint32_t frame_id, const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
-  va_end(args);
-}
@@ -104,15 +104,6 @@ class UnixDomainSocketHandler(logging.Handler):
      pass


-class ForwardingHandler(logging.Handler):
-  def __init__(self, target_logger):
-    super().__init__()
-    self.target_logger = target_logger
-
-  def emit(self, record):
-    self.target_logger.handle(record)
-
-
 def add_file_handler(log):
  """
  Function to add the file log handler to swaglog.
@@ -1 +0,0 @@
-test_common
@@ -1,19 +0,0 @@
-import os
-from uuid import uuid4
-
-from openpilot.common.file_helpers import atomic_write_in_dir
-
-
-class TestFileHelpers:
-  def run_atomic_write_func(self, atomic_write_func):
-    path = f"/tmp/tmp{uuid4()}"
-    with atomic_write_func(path) as f:
-      f.write("test")
-      assert not os.path.exists(path)
-
-    with open(path) as f:
-      assert f.read() == "test"
-    os.remove(path)
-
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
@@ -1,15 +0,0 @@
-import os
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.markdown import parse_markdown
-
-
-class TestMarkdown:
-  def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
-      release_notes = f.read().split("\n\n")
-      assert len(release_notes) > 10
-
-      for rn in release_notes:
-        md = parse_markdown(rn)
-        assert len(md) > 0
@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}
@@ -1,141 +0,0 @@
-import pytest
-import datetime
-import os
-import threading
-import time
-import uuid
-
-from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
-
-class TestParams:
-  def setup_method(self):
-    self.params = Params()
-
-  def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("DongleId") == "cb38263377b873ee"
-
-  def test_params_non_ascii(self):
-    st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st)
-    assert self.params.get("CarParams") == st
-
-  def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test")
-    self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("CarParams") == b"test"
-
-    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
-    with open(undefined_param, "w") as f:
-      f.write("test")
-    assert os.path.isfile(undefined_param)
-
-    self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
-    assert self.params.get("CarParams") is None
-    assert self.params.get("DongleId") is not None
-    assert not os.path.isfile(undefined_param)
-
-  def test_params_two_things(self):
-    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
-    assert self.params.get("DongleId") == "bob"
-    assert self.params.get("AthenadPid") == 123
-
-  def test_params_get_block(self):
-    def _delayed_writer():
-      time.sleep(0.1)
-      self.params.put("CarParams", b"test")
-    threading.Thread(target=_delayed_writer).start()
-    assert self.params.get("CarParams") is None
-    assert self.params.get("CarParams", block=True) == b"test"
-
-  def test_params_unknown_key_fails(self):
-    with pytest.raises(UnknownKeyName):
-      self.params.get("swag")
-
-    with pytest.raises(UnknownKeyName):
-      self.params.get_bool("swag")
-
-    with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc")
-
-    with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True)
-
-  def test_remove_not_there(self):
-    assert self.params.get("CarParams") is None
-    self.params.remove("CarParams")
-    assert self.params.get("CarParams") is None
-
-  def test_get_bool(self):
-    self.params.remove("IsMetric")
-    assert not self.params.get_bool("IsMetric")
-
-    self.params.put_bool("IsMetric", True)
-    assert self.params.get_bool("IsMetric")
-
-    self.params.put_bool("IsMetric", False)
-    assert not self.params.get_bool("IsMetric")
-
-    self.params.put("IsMetric", True)
-    assert self.params.get_bool("IsMetric")
-
-    self.params.put("IsMetric", False)
-    assert not self.params.get_bool("IsMetric")
-
-  def test_put_non_blocking_with_get_block(self):
-    q = Params()
-    def _delayed_writer():
-      time.sleep(0.1)
-      Params().put_nonblocking("CarParams", b"test")
-    threading.Thread(target=_delayed_writer).start()
-    assert q.get("CarParams") is None
-    assert q.get("CarParams", True) == b"test"
-
-  def test_put_bool_non_blocking_with_get_block(self):
-    q = Params()
-    def _delayed_writer():
-      time.sleep(0.1)
-      Params().put_bool_nonblocking("CarParams", True)
-    threading.Thread(target=_delayed_writer).start()
-    assert q.get("CarParams") is None
-    assert q.get("CarParams", True) == b"1"
-
-  def test_params_all_keys(self):
-    keys = Params().all_keys()
-
-    # sanity checks
-    assert len(keys) > 20
-    assert len(keys) == len(set(keys))
-    assert b"CarParams" in keys
-
-  def test_params_default_value(self):
-    self.params.remove("LanguageSetting")
-    self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParameters")
-
-    assert self.params.get("LanguageSetting") is None
-    assert self.params.get("LanguageSetting", return_default=False) is None
-    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
-    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParameters") is None
-    assert self.params.get("LiveParameters", return_default=True) is None
-
-  def test_params_get_type(self):
-    # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
-    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
-
-    # int
-    self.params.put("BootCount", 1441)
-    assert self.params.get("BootCount") == 1441
-
-    # bool
-    self.params.put("AdbEnabled", True)
-    assert self.params.get("AdbEnabled")
-    assert isinstance(self.params.get("AdbEnabled"), bool)
-
-    # time
-    now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now)
-    assert self.params.get("InstallDate") == now
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
@@ -1,29 +0,0 @@
-from openpilot.common.simple_kalman import KF1D
-
-
-class TestSimpleKalman:
-  def setup_method(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.set_x([[1.0], [1.0]])
-    assert self.kf.x == [[1.0], [1.0]]
-
-  def test_update_returns_state(self):
-    x = self.kf.update(100)
-    assert x == [i[0] for i in self.kf.x]
@@ -1,88 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
dragonpilot	c58f481a80	dragonpilot beta3 date: 2024-08-20T11:22:58 commit: dc76c1d6216e3766209a450c29dc9dafb696ef19	2024-08-20 11:23:01 +00:00
dragonpilot	0f94adf3e2	dragonpilot beta3 date: 2024-07-24T16:04:16 commit: dc9f0893111844f272214d323227f5f8ab857b0f	2024-07-24 16:04:20 +08:00
dragonpilot	10a81a8a7a	dragonpilot beta3 date: 2024-07-18T06:40:02 commit: `8d1b816c52`	2024-07-18 06:40:05 +08:00
dragonpilot	9d48733d53	dragonpilot beta3 date: 2024-07-17T20:01:09 commit: `f8a68a45eb`	2024-07-17 20:01:14 +08:00
dragonpilot	65561d9eae	dragonpilot beta3 date: 2024-07-16T16:56:14 commit: `0e699602c7`	2024-07-16 16:56:22 +08:00
dragonpilot	cbd22eca29	dragonpilot beta3 date: 2024-07-13T18:45:35 commit: `c25d768a9e`	2024-07-13 18:45:42 +08:00
dragonpilot	0094c9ac06	dragonpilot beta3 date: 2024-07-02T08:56:56 commit: `f9ff917bc6`	2024-07-02 08:57:01 +00:00
dragonpilot	d87b6d5727	dragonpilot beta3 date: 2024-06-30T22:53:03 commit: `7048b83cde`	2024-06-30 22:53:06 +08:00
dragonpilot	5b244b3701	dragonpilot beta3 date: 2024-06-27T15:06:14 commit: `a0a83dc040`	2024-06-27 15:06:24 +08:00
dragonpilot	a5cee30aa6	dragonpilot beta3 date: 2024-06-25T13:13:17 commit: `69a099242f`	2024-06-25 13:13:19 +08:00
dragonpilot	0cc5813f7a	dragonpilot beta3 date: 2024-02-13T06:57:06 commit: 2bc6dfaf437364299dad2d89e24f19dd7c42b11d	2024-02-13 06:57:15 -07:00
dragonpilot	f4ee52f095	dragonpilot beta3 date: 2024-02-12T12:52:55 commit: 0f5fdc8c6be06fb8901e8be8f3fa7d00596eb1f4	2024-02-12 12:53:11 -07:00
eFini	7a6a11159f	Merge pull request #204 from dragonpilot-community/eFiniLan-patch-5 Fixed dpdmonitoringd.py	2023-12-29 23:31:33 +08:00
eFini	9b747565eb	Fixed dpdmonitoringd.py	2023-12-29 23:31:08 +08:00
dragonpilot	7ee7cb59b3	dragonpilot beta3 date: 2023-12-23T21:19:29 commit: 38612b14f1a8aa49d1c6ef61bd67f5a095abb3f9	2023-12-23 21:19:44 -07:00
dragonpilot	dd4c663a58	dragonpilot beta3 date: 2023-11-20T10:53:27 commit: 7521cefd30dbe703c281db9056f6c6e5f8a05de8	2023-11-20 10:53:42 -07:00
dragonpilot	52b846fc3c	dragonpilot beta3 date: 2023-10-17T17:15:50 commit: 40ccd4c168d7fb1576d8fb8874823c2efd297c5b	2023-10-17 17:16:00 -07:00
dragonpilot	cfe0ae9b8a	dragonpilot beta3 date: 2023-10-09T10:55:55 commit: 91b6e3aecd7170f24bccacb10c515ec281c30295	2023-10-09 10:56:13 -07:00
dragonpilot	a9ba3193e2	dragonpilot beta3 date: 2023-08-22T14:36:40 commit: 6882c14d98c8759148d4c762fbffd3e254d2d34a	2023-08-22 14:36:43 -07:00
dragonpilot	d8e5331c6e	dragonpilot beta3 date: 2023-08-22T14:21:17 commit: 6148ce3d77530281f890970718e9c42b2acc5ff1	2023-08-22 14:21:31 -07:00
dragonpilot	957d61c2f7	dragonpilot beta3 date: 2023-08-15T11:39:41 commit: 23c1c08d626baec60d22077c16ac8d279730af5c	2023-08-15 11:39:44 +08:00
dragonpilot	07efb69074	dragonpilot beta3 date: 2023-08-14T18:35:32 commit: 90b4f6596bf852f4add5a8faa7581aabb57e4ba4	2023-08-14 18:35:39 +08:00
dragonpilot	58934b517d	dragonpilot beta3 date: 2023-08-14T16:27:10 commit: 90b4f6596bf852f4add5a8faa7581aabb57e4ba4	2023-08-14 16:27:24 +08:00
dragonpilot	53534a739b	dragonpilot beta3 date: 2023-08-12T22:49:29 commit: 4a00a8b481f12816570d5e870a0fbb9f2e4d9e0e	2023-08-12 22:49:38 +08:00
dragonpilot	1542fedcd1	dragonpilot beta3 date: 2023-08-11T23:00:23 commit: af14371afdf5023a178ed6f21a82099ea64dffe4	2023-08-11 23:00:38 +08:00
dragonpilot	393b21e11d	dragonpilot beta3 date: 2023-08-09T09:30:11 commit: e143ac745520b39e1a004a569b9cb76993818b4a	2023-08-09 09:30:20 +08:00
dragonpilot	2759f1a1a1	dragonpilot beta3 date: 2023-08-07T16:49:41 commit: 7a937ab993c53607a38e9eac040c91c0ffcb9e30	2023-08-07 16:49:44 +08:00
dragonpilot	e4567a5d70	dragonpilot 2023.07.27 commit: c6d842c412052be1985b63d683c63be9dcb2b0eb	2023-07-27 00:49:16 +08:00
dragonpilot	1abc7d7daa	dragonpilot beta3 date: 2023-07-26T22:20:36 commit: c6d842c412052be1985b63d683c63be9dcb2b0eb	2023-07-26 22:20:51 +08:00
eFini	67c2c03b43	Update registration.py disable registration for Mr One device for now.	2023-07-22 15:15:29 +08:00
Dragonpilot Team	d0beb4d392	dragonpilot v2023.07.05 version: dragonpilot v0.9.4 release date: 2023-07-05T18:59:41 dp-dev(priv) master commit: 7b0489feab40283a422d2201ef95a9cb8c06f6cd	2023-07-05 18:59:58 -07:00