Merge branch 'devel-unsupported-cars' into devel-en

Revert "Move Max's FP to TSS RAV4H instead of TSS2 variant"
This reverts commit 236a05f2ad.
2026-06-20 13:32:04 +08:00 · 2019-10-09 14:46:13 +10:00 · 2019-10-09 14:45:13 +10:00 · 2019-10-09 14:43:24 +10:00 · 2019-10-08 14:43:12 +10:00 · 2019-10-08 10:49:49 +10:00
1228 changed files with 13540 additions and 284348 deletions
@@ -1,25 +0,0 @@
---
-name: Bug report
-about: Create a report to help us improve openpilot
-title: ''
-labels: 'bug'
-assignees: ''
-
---
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**How to reproduce or log data**
-Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Device/Version information (please complete the following information):**
- - Device: [e.g. EON/EON Gold]
- - Version: [e.g. 0.6.4], or commit hash when on devel
- - Car make/model [e.g. Toyota Prius 2016]
-
-**Additional context**
-Add any other context about the problem here.
@@ -1,21 +0,0 @@
-Choose one of the templates below:
-
-# Fingerprint
-This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-
-# Car support
-This pull requests adds support for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-This is an explorer link to a drive with openpilot system enabled: ...
-
-# Feature
-This pull requests adds feature X
-
-## Description
-Explain what the feature does
-
-## Testing
-Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -4,7 +4,6 @@ venv/
 .ipynb_checkpoints
 .idea
 .sconsign.dblite
-.vscode
 model2.png
 a.out

@@ -15,9 +14,7 @@ a.out
 .*.swp
 .*.swo
 .*.un~
-*.tmp
 *.o
-*.os
 *.so
 *.a
 *.clb
@@ -32,23 +29,16 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
-selfdrive/ui/_ui
-selfdrive/test/longitudinal_maneuvers/out
+selfdrive/ui/ui
+selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/sensord/gpsd
+selfdrive/sensord/sensord
 /src/

 one
 openpilot
 notebooks
 xx
-panda_jungle
-
-.coverage*
-htmlcov

@@ -6,67 +6,43 @@ RUN apt-get update && apt-get install -y \
    build-essential \
    bzip2 \
    clang \
-    cmake \
-    curl \
-    ffmpeg \
    git \
    libarchive-dev \
-    libbz2-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavfilter-dev \
+    libavresample-dev \
+    libavutil-dev \
    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
    libglib2.0-0 \
-    liblzma-dev \
-    libmysqlclient-dev \
-    libomp-dev \
-    libopencv-dev \
    libssl-dev \
+    libswscale-dev \
    libtool \
-    libusb-1.0-0-dev \
+    libusb-1.0-0 \
    libzmq5-dev \
-    locales \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
    opencl-headers \
-    python-dev \
+    pkg-config \
    python-pip \
-    screen \
-    sudo \
-    vim \
    wget

-
-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
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-
-RUN python --version
-RUN cd /tmp && pipenv install --system --deploy
-
-# Install subset of dev dependencies needed for CI
-RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
-
 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
 RUN /tmp/install_capnp.sh

-RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN pip install --upgrade pip==18.0
+RUN pip install pipenv==2018.11.26
+
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+RUN cd /tmp && pipenv install --deploy --system
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN pip install -r /tmp/openpilot/tools/requirements.txt
+RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0

-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
@@ -76,7 +52,6 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
 COPY ./panda /tmp/openpilot/panda

-COPY SConstruct /tmp/openpilot/SConstruct
-
 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN cd /tmp/openpilot && scons -j$(nproc)
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
@@ -4,17 +4,16 @@ url = "https://pypi.org/simple"
 verify_ssl = true

 [dev-packages]
-opencv-python= "==3.4.2.17"
-PyQt5 = "*"
-ipython = "*"
-networkx = "==2.3"
-azure-common = "==1.1.23"
-azure-nspkg = "==3.0.2"
-azure-storage-blob = "==2.1.0"
-azure-storage-common = "==2.1.0"
-azure-storage-nspkg = "==3.1.0"
+ipython = "<6.0"
+aenum = "*"
+azure-batch = "==4.1.3"
+azure-common = "==1.1.16"
+azure-nspkg = "==3.0.1"
+azure-storage-blob = "==1.3.1"
+azure-storage-common = "==1.3.0"
+azure-storage-nspkg = "==3.0.0"
 bincopy = "*"
-bleach = "*"
+bleach = "==1.5.0"
 boto = "*"
 "boto3" = "*"
 celery = "*"
@@ -24,6 +23,7 @@ decorator = "*"
 dlib = "*"
 dominate = "*"
 elasticsearch = "*"
+entium = "==0.1.4"
 fasteners = "*"
 future = "*"
 futures = "*"
@@ -32,31 +32,32 @@ pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory =
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
-"html5lib" = "*"
+"html5lib" = "==0.9999999"
 imageio = "*"
 intervaltree = "*"
-ipykernel = "*"
+ipykernel = "<5.0"
 joblib = "*"
 json-logging-py = "*"
 jupyter = "*"
 libarchive = "*"
 lru-dict = "*"
 lxml = "*"
+matplotlib = "==2.2.3"
 "mpld3" = "*"
 msgpack-python = "*"
 nbstripout = "*"
 nose-parameterized = "*"
-numpy = "*"
-osmium = "*"
-pbr = "*"
+numpy = "==1.14.5"
+osmium = "==2.15.0"
+pbr = "==5.1.3"
 percache = "*"
 pprofile = "*"
 psutil = "*"
 pycurl = "*"
-git-pylint-commit-hook = "*"
+git-pylint-commit-hook = "==2.5.1"
 pymongo = "*"
 "pynmea2" = "*"
-pypolyline = "*"
+pypolyline = "==0.1.17"
 pysendfile = "*"
 python-logstash = "*"
 pyvcd = "*"
@@ -67,9 +68,11 @@ scikit-image = "*"
 "subprocess32" = "*"
 supervisor = "*"
 tenacity = "*"
-tensorflow-gpu = ""
+tensorflow-gpu = "==1.13.0rc0"
+"transforms3d" = "*"
 utm = "*"
 "v4l2" = "*"
+visdom = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
 Theano = "*"
@@ -78,29 +81,26 @@ Werkzeug = "*"
 Flask-Cors = "*"
 Flask-SocketIO = "*"
 "GeoAlchemy2" = "*"
+Keras = ">=2.1.6"
+keras-maskrcnn = "*"
+keras-retinanet = "*"
 Pygments = "*"
 PyNaCl = "*"
 "PySDL2" = "*"
 reverse_geocoder = "*"
 Shapely = "*"
-SQLAlchemy = "*"
+SQLAlchemy = "==1.2.7"
 uWSGI = "*"
 scipy = "*"
-fastcluster = "*"
+fastcluster = "==1.1.25"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
+pandas = "*"
 seaborn = "*"
-tensorflow-estimator = "*"
+tensorflow-estimator = "==1.10.12"
 pyproj = "*"
-mock = "*"
-blinker = "*"
-gast = "==0.2.2"
-matplotlib = "*"
-dictdiffer = "*"
-aenum = "*"
-coverage = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -126,7 +126,7 @@ tqdm = "*"
 Cython = "*"
 PyYAML = "*"
 websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
 urllib3 = "*"
 chardet = "*"
 idna = "*"
@@ -137,13 +137,9 @@ Flask = "*"
 PyJWT = "*"
 "Jinja2" = "*"
 nose = "*"
-flake8 = "*"
+pyflakes = "*"
 pylint = "*"
 pycryptodome = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-

 [requires]
-python_version = "3.7.3"
+python_version = "2.7"
@@ -1,274 +1,180 @@
 [![](https://i.imgur.com/UetIFyH.jpg)](#)

+Welcome to openpilot
+======
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+
+The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+
 Table of Contents
 =======================

-* [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
+* [Community](#community)
+* [Hardware](#hardware)
 * [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
+* [Community Maintained Cars](#community-maintained-cars)
+* [In Progress Cars](#in-progress-cars)
+* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
+* [Directory structure](#directory-structure)
+* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
 * [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [Directory Structure](#directory-structure)
+* [Contributing](#contributing)
 * [Licensing](#licensing)

 ---

-What is openpilot?
+Community
 ------

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
+openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
+
+We have a [Twitter you should follow](https://twitter.com/comma_ai).
+
+Also, we have a several thousand people community on [Discord](https://discord.comma.ai).

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
  </tr>
 </table>

-Integration with Stock Features
+Hardware
 ------

-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
+At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.

-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
-
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
------
-
-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

 Supported Cars
 ------

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019        | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Make                 | Model (US Market Reference)| Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Buick<sup>3</sup>    | Regal 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Malibu 2017                | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                   | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chrysler             | Pacifica 2017-18           | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2019       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| GMC<sup>3</sup>      | Acadia Denali 2018         | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018-19             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord Hybrid 2018-19      | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18  | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Sedan/Coupe 2019     | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16               | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-19               | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2017-2019      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Fit 2018-19                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Odyssey 2018-19            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019              | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Pilot 2016-18              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019                 | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019              | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018               | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Jeep                 | Grand Cherokee 2016-18     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2019        | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| Kia                  | Optima 2019                | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
+| Lexus                | IS Hybrid 2017             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019               | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Toyota               | Avalon 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19              | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19               | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | C-HR Hybrid 2017-19        | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020               | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hatchback 2019     | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19         | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2017-19  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-19              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-20        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                  | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18               | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2019                  | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2016           | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |

-<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>Subaru Giraffe is DIY. <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />

-Community Maintained Cars and Features
+Community Maintained Cars
 ------

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|

-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
+<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
+Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

-Installation Instructions
+In Progress Cars
+------
+- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
+- All Hyundai with SmartSense.
+- All Kia with SCC and LKAS.
+- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+- All Subaru with EyeSight.
+
+How can I add support for my car?
 ------

-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.

-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
+We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.

-Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
+- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
+- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.

-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
------
-
-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
-* Right hand driving vehicles.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
-
-User Data and comma Account
------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). 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 camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* 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 EONs continuously replaying routes.
-
-Testing on PC
------
-
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Community and Contributing
------
-
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
-
-You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
-
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
-
-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-Directory Structure
+Directory structure
 ------
    .
    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── cereal              # The messaging spec used for all logs on EON
    ├── common              # Library like functionality we've developed here
    ├── installer/updater   # Manages auto-updates of openpilot
    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
+    ├── panda               # Code used to communicate on CAN and LIN
    ├── phonelibs           # Libraries used on EON
    ├── pyextra             # Libraries used on EON
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts and images for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
+        ├── can             # Helpers for parsing CAN messages
        ├── car             # Car specific code to read states and control actuators
        ├── common          # Shared C/C++ code for the daemons
        ├── controls        # Perception, planning and controls
@@ -276,20 +182,54 @@ Directory Structure
        ├── locationd       # Soon to be home of precise location
        ├── logcatd         # Android logcat as a service
        ├── loggerd         # Logger and uploader of car data
-        ├── modeld          # Driving and monitoring model runners
        ├── proclogd        # Logs information from proc
        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
-        └── ui              # The UI
+        ├── test            # Car simulator running code through virtual maneuvers
+        ├── ui              # The UI
+        └── visiond         # Vision pipeline

-To understand how the services interact, see `cereal/service_list.yaml`.
+To understand how the services interact, see `selfdrive/service_list.yaml`
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+
+It's open source software, so you are free to disable it if you wish.
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The user facing camera is only logged if you explicitly opt-in in settings.
+It does not log the microphone.
+
+By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+Testing on PC
+------
+
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
+
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
+
+Contributing
+------
+
+We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+
+We also have a [bounty program](https://comma.ai/bounties.html).
+
+Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

 Licensing
 ------

 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.
+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.
@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+It's open source software, so you are free to disable it if you wish. 
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+
@@ -1,45 +1,3 @@
-Version 0.7 (2019-12-13)
-========================
- * Move to SCons build system!
- * Add Lane Departure Warning (LDW) for all supported vehicles!
- * NEOS update: increase wifi speed thanks to jyoung8607!
- * Adaptive driver monitoring based on scene
- * New driving model trained end-to-end: improve lane lines and lead detection
- * Smarter torque limit alerts for all cars
- * Improve GM longitudinal control: proper computations for 15Hz radar
- * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
- * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
- * Forward stock FCW for Honda Nidec
- * Volkswagen port now standard: comma Harness intercepts stock camera
-
-Version 0.6.6 (2019-11-05)
-========================
- * Volkswagen support thanks to jyoung8607!
- * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
- * Lexus ES with TSS 2.0 support thanks to energee!
- * Fix GM ignition detection and lock safety mode not required anymore
- * Log panda firmware and dongle ID thanks to martinl!
- * New driving model: improve path prediction and lead detection
- * New driver monitoring model, 4x smaller and running on DSP
- * Display an alert and don't start openpilot if panda has wrong firmware
- * Fix bug preventing EON from terminating processes after a drive
- * Remove support for Toyota giraffe without the 120Ohm resistor
-
-Version 0.6.5 (2019-10-07)
-========================
- * NEOS update: upgrade to Python3 and new installer!
- * comma Harness support!
- * New driving model: improve path prediction
- * New driver monitoring model: more accurate face and eye detection
- * Redesign offroad screen to display updates and alerts
- * Increase maximum allowed acceleration
- * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
- * Lexus CT Hybrid support thanks to thomaspich!
- * Louder chime for critical alerts
- * Add toggle to switch to dashcam mode
- * Fix "invalid vehicle params" error on DSU-less Toyota
-
 Version 0.6.4 (2019-09-08)
 ========================
 * Forward stock AEB for Honda Nidec
@@ -90,7 +48,7 @@ Version 0.6 (2019-07-01)
 * Panda safety code is MISRA compliant and ships with a signed version on release2
 * New NEOS is 500MB smaller and has a reproducible usr/pipenv
 * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS 2.0
+ * Improve tuning for supported Toyota with TSS2
 * Various other stability improvements

 Version 0.5.13 (2019-05-31)
@@ -1,26 +1,16 @@
 openpilot Safety
 ======

-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
+openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
+Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+pay attention at all times. We repeat, **driver alertness is necessary, but not 
+sufficient, for openpilot to be used safely**.

 In order to enforce driver alertness, openpilot includes a driver monitoring feature
 that alerts the driver when distracted.

 However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
+safe. We have designed openpilot with two other safety considerations.

 1. The driver must always be capable to immediately retake manual control of the vehicle, 
   by stepping on either pedal or by pressing the cancel button.
@@ -28,7 +18,134 @@ ensuring two main safety requirements.
   react. This means that while the system is engaged, the actuators are constrained
   to operate within reasonable limits.

-For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
+Following are details of the car specific safety implementations:
+
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.
+
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.
+
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Toyota/Lexus
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Hyundai/Kia (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+Chrysler/Jeep/Fiat (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
+    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+Subaru (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.

 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
  not fully meeting the above requirements.
@@ -1,212 +0,0 @@
-import os
-import subprocess
-import sys
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-if arch == "aarch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
-  }
-
-  cpppath = [
-    "#phonelibs/opencl/include",
-  ]
-  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
-    "/usr/lib",
-    "/data/data/com.termux/files/usr/lib",
-    "/system/vendor/lib64",
-    "/system/comma/usr/lib",
-    "#phonelibs/yaml-cpp/lib",
-    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
-  ]
-
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
-
-  rpath = ["/system/vendor/lib64"]
-else:
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
-    "#phonelibs/zmq/x64/include",
-  ]
-  libpath = [
-    "#phonelibs/capnp-cpp/x64/lib",
-    "#phonelibs/capnp-c/x64/lib",
-    "#phonelibs/yaml-cpp/x64/lib",
-    "#phonelibs/snpe/x86_64-linux-clang",
-    "#phonelibs/zmq/x64/lib",
-    "#phonelibs/libyuv/x64/lib",
-    "#external/zmq/lib",
-    "#cereal",
-    "#selfdrive/common",
-    "/usr/lib",
-    "/usr/local/lib",
-  ]
-
-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "cereal",
-           "selfdrive/common"]
-
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
-
-  cflags = []
-  cxxflags = []
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + cflags + ccflags_asan,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#selfdrive",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/yaml-cpp/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
-    "#phonelibs/json11",
-    "#phonelibs/eigen",
-    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#cereal/messaging",
-    "#cereal",
-    "#opendbc/can",
-  ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags_asan,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
-  LIBPATH=libpath +
-  [
-    "#cereal",
-    "#selfdrive/common",
-    "#phonelibs",
-  ]
-)
-
-if os.environ.get('SCONS_CACHE'):
-  CacheDir('/tmp/scons_cache')
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-SHARED = False
-
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
-#zmq = 'zmq'
-# still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
-
-# cereal and messaging are shared with the system
-SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
-
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
-
-if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
-else:
-  common = [_common, 'json']
-  visionipc = _visionipc
-  gpucommon = [_gpucommon] + _gpu_libs
-
-Export('common', 'visionipc', 'gpucommon')
-
-SConscript(['opendbc/can/SConscript'])
-
-SConscript(['common/SConscript'])
-SConscript(['common/kalman/SConscript'])
-SConscript(['phonelibs/SConscript'])
-
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/camerad/SConscript'])
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-
-if arch == "aarch64":
-  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/ui/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/loggerd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
@@ -1 +0,0 @@
-.sconsign.dblite
@@ -3,12 +3,4 @@ node_modules
 package-lock.json
 *.pyc
 __pycache__
-.*.swp
-.*.swo
-libcereal*.a
-libmessaging.*
-libmessaging_shared.*
-services.h
-.sconsign.dblite
-libcereal_shared.so

@@ -1,19 +0,0 @@
-from ubuntu:16.04
-
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
-
-WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN scons -c && scons -j$(nproc)
@@ -0,0 +1,62 @@
+PWD := $(shell pwd)
+
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js
+
+UNAME_M ?= $(shell uname -m)
+
+GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+
+ifeq ($(UNAME_M),x86_64)
+
+ifneq (, $(shell which capnpc-java))
+GENS += gen/java/Car.java gen/java/Log.java
+else
+$(warning capnpc-java not found, skipping java build)
+endif
+
+endif
+
+
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
+.PHONY: all
+all: $(GENS)
+js: $(JS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+	rm -rf node_modules
+	rm -rf package-lock.json
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
+
+gen/js/%.capnp.js: %.capnp
+	@echo "[ CAPNPC JavaScript ] $@"
+	mkdir -p gen/js/
+	sh ./generate_javascript.sh
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	$(CAPNPC) $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
+	mkdir -p gen/c/include
+	touch '$@'
@@ -1,68 +0,0 @@
-Import('env', 'arch', 'zmq')
-
-gen_dir = Dir('gen')
-messaging_dir = Dir('messaging')
-
-# TODO: remove src-prefix and cereal from command string. can we set working directory?
-env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
-env.Command(
-  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
-if shutil.which('capnpc-java'):
-  env.Command(
-    ['gen/java/Car.java', 'gen/java/Log.java'],
-    ['car.capnp', 'log.capnp'],
-    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
-
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
-    'gen/cpp/car.capnp.c++',
-    'gen/cpp/log.capnp.c++',
-  ])
-
-env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
-
-cereal_dir = Dir('.')
-services_h = env.Command(
-  ['services.h'],
-  ['service_list.yaml', 'services.py'],
-  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/msgq.cc',
-])
-
-messaging_lib = env.Library('messaging', messaging_objects)
-Depends('messaging/impl_zmq.cc', services_h)
-
-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
-
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
-Depends('messaging/bridge.cc', services_h)
-
-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
-
-
-env.Command(['messaging/messaging_pyx.so'],
-  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
-
-
-if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
@@ -1,49 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    cereal_dir,
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-
-Export('env', 'zmq', 'arch')
-SConscript(['SConscript'])
@@ -1,14 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-
-steps:
- script: |
-    set -e
-    docker build -t cereal .
-    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
-  displayName: 'Run Tests'
@@ -82,21 +82,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    invalidGiraffeToyota @60;
-    internetConnectivityNeeded @61;
-    communityFeatureDisallowed @62;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-
-    # dragonpilot
-    manualSteeringRequired @66;
-    manualSteeringRequiredBlinkersOn @67;
-    leadCarMoving @68;
-    leadCarDetected @69;
-    preAutoLaneChangeLeft @70;
-    preAutoLaneChangeRight @71;
-    autoLaneChange @72;
+    manualSteeringRequired @60;
+    manualSteeringRequiredBlinkersOn @61;
  }
 }

@@ -130,9 +117,6 @@ struct CarState {
  steeringTorque @8 :Float32;  # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -151,9 +135,6 @@ struct CarState {
  seatbeltUnlatched @25 :Bool;
  canValid @26 :Bool;

-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

@@ -182,10 +163,9 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
-    eco @8;
-    manumatic @9;
  }

+
  # send on change
  struct ButtonEvent {
    pressed @0 :Bool;
@@ -201,9 +181,6 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
    }
  }
 }
@@ -296,7 +273,6 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
-      ldw @7;
    }

    enum AudibleAlert {
@@ -329,7 +305,7 @@ struct CarParams {
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
  safetyModel @9 :SafetyModel;
-  safetyModelPassive @42 :SafetyModel = silent;
+  safetyModelPassive @42 :SafetyModel = noOutput;
  safetyParam @10 :Int16;

  steerMaxBP @11 :List(Float32);
@@ -339,6 +315,7 @@ struct CarParams {
  brakeMaxBP @15 :List(Float32);
  brakeMaxV @16 :List(Float32);

+
  # things about the car in the manual
  mass @17 :Float32;             # [kg] running weight
  wheelbase @18 :Float32;        # [m] distance from rear to front axle
@@ -359,7 +336,6 @@ struct CarParams {
  }

  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued

  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
@@ -374,10 +350,6 @@ struct CarParams {
  carVin @38 :Text; # VIN number queried during fingerprinting
  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  communityFeature @46: Bool;  # true if a community maintained feature is detected

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -396,6 +368,7 @@ struct CarParams {
    deadzoneV @5 :List(Float32);
  }

+
  struct LateralINDITuning {
    outerLoopGain @0 :Float32;
    innerLoopGain @1 :Float32;
@@ -417,8 +390,10 @@ struct CarParams {
    l @7 :List(Float32);  # Kalman gain
  }

+
  enum SafetyModel {
-    silent @0;
+    # does NOT match board setting
+    noOutput @0;
    honda @1;
    toyota @2;
    elm327 @3;
@@ -431,35 +406,10 @@ struct CarParams {
    tesla @10;
    subaru @11;
    gmPassive @12;
-    mazda @13;
-    nissan @14;
-    volkswagen @15;
-    toyotaIpas @16;
-    allOutput @17;
-    gmAscm @18;
-    noOutput @19;  # like silent but with silent CAN TXs
  }

  enum SteerControlType {
    torque @0;
    angle @1;
  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;
-    manual @2;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Text;
-  }
-
-  enum Ecu {
-    eps @0;
-    esp @1;
-    fwdRadar @2;
-    fwdCamera @3;
-  }
 }
@@ -8,8 +8,7 @@ tar xvf capnproto-c++-${VERSION}.tar.gz
 cd capnproto-c++-${VERSION}
 CXXFLAGS="-fPIC" ./configure

-make -j$(nproc)
-make install
+make -j4

 # manually build binaries statically
 g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
@@ -19,6 +18,7 @@ g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -D
 g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread

 cp .libs/capnp /usr/local/bin/
+ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
 cp .libs/capnpc-c++ /usr/local/bin/
 cp .libs/capnpc-capnp /usr/local/bin/
 cp .libs/*.a /usr/local/lib
@@ -30,8 +30,7 @@ cd c-capnproto
 git submodule update --init --recursive
 autoreconf -f -i -s
 CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
+make -j4

 # manually build binaries statically
 gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
@@ -126,7 +126,6 @@ struct FrameData {
  lensErr @13 :Float32;
  lensTruePos @14 :Float32;
  image @6 :Data;
-  gainFrac @15 :Float32;

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -138,7 +137,6 @@ struct FrameData {
    unknown @0;
    neo @1;
    chffrAndroid @2;
-    front @3;
  }

  struct AndroidCaptureResult {
@@ -270,7 +268,6 @@ struct ThermalData {
  mem @4 :UInt16;
  gpu @5 :UInt16;
  bat @6 :UInt32;
-  pa0 @21 :UInt16;

  # not thermal
  freeSpace @7 :Float32;
@@ -287,11 +284,7 @@ struct ThermalData {
  thermalStatus @14 :ThermalStatus;
  chargingError @17 :Bool;
  chargingDisabled @18 :Bool;
-
-  memUsedPercent @19 :Int8;
-  cpuPerc @20 :Int8;
-
-  ipAddr @22 :Text; # dragonpilot
+  ipAddr @19 :Text;

  enum ThermalStatus {
    green @0;   # all processes run
@@ -305,7 +298,7 @@ struct HealthData {
  # from can health
  voltage @0 :UInt32;
  current @1 :UInt32;
-  ignitionLine @2 :Bool;
+  started @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
  startedSignalDetectedDeprecated @5 :Bool;
@@ -313,25 +306,7 @@ struct HealthData {
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
-  hwType @10 :HwType;
-  fanSpeedRpm @11 :UInt16;
-  usbPowerMode @12 :UsbPowerMode;
-  ignitionCan @13 :Bool;
-  safetyModel @14 :Car.CarParams.SafetyModel;
-  faultStatus @15 :FaultStatus;
-  powerSaveEnabled @16 :Bool;
-  uptime @17 :UInt32;
-  faults @18 :List(FaultType);
-
-  enum FaultStatus {
-    none @0;
-    faultTemp @1;
-    faultPerm @2;
-  }
-
-  enum FaultType {
-    relayMalfunction @0;
-  }
+  hwType @10: HwType;

  enum HwType {
    unknown @0;
@@ -339,14 +314,6 @@ struct HealthData {
    greyPanda @2;
    blackPanda @3;
    pedal @4;
-    uno @5;
-  }
-
-  enum UsbPowerMode {
-    none @0;
-    client @1;
-    cdp @2;
-    dcp @3;
  }
 }

@@ -531,7 +498,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    delayedOutput @7 :Float32;
    delta @8 :Float32;
    output @9 :Float32;
-    saturated @10 :Bool;
  }

  struct LateralPIDState {
@@ -552,7 +518,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    i @2 :Float32;
    output @3 :Float32;
    lqrOutput @4 :Float32;
-    saturated @5 :Bool;
   }


@@ -576,7 +541,6 @@ struct ModelData {
  settings @5 :ModelSettings;
  leadFuture @7 :LeadData;
  speed @8 :List(Float32);
-  meta @10 :MetaData;

  struct PathData {
    points @0 :List(Float32);
@@ -607,13 +571,6 @@ struct ModelData {
    yuvCorrection @5 :List(Float32);
    inputTransform @6 :List(Float32);
  }
-  struct MetaData {
-    engagedProb @0 :Float32;
-    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-  }
 }

 struct CalibrationFeatures {
@@ -747,8 +704,6 @@ struct PathPlan {
  desire @17 :Desire;
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;
-  # dragonpilot
-  autoLCAllowed @20 :Bool;

  enum Desire {
    none @0;
@@ -1683,7 +1638,6 @@ struct UiLayoutState {
    home @0;
    music @1;
    nav @2;
-    settings @3;
  }
 }

@@ -1760,7 +1714,6 @@ struct DriverMonitoring {
  rightEyeProb @7 :Float32;
  leftBlinkProb @8 :Float32;
  rightBlinkProb @9 :Float32;
-  irPwrDEPRECATED @10 :Float32;
 }

 struct Boot {
@@ -1892,6 +1845,5 @@ struct Event {
    thumbnail @66: Thumbnail;
    carEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
-    frontFrame @70: FrameData;
  }
 }
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/
@@ -1,62 +0,0 @@
-#include <iostream>
-#include <string>
-#include <cassert>
-#include <csignal>
-#include <map>
-
-#include "services.h"
-
-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
-
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
-
-static std::vector<std::string> get_services() {
-  std::vector<std::string> name_list;
-
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == "plusFrame" || name == "uiLayoutState") continue;
-    name_list.push_back(name);
-  }
-
-  return name_list;
-}
-
-
-int main(void){
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-
-  auto endpoints = get_services();
-
-  std::map<SubSocket*, PubSocket*> sub2pub;
-
-  Context *zmq_context = new ZMQContext();
-  Context *msgq_context = new MSGQContext();
-  Poller *poller = new MSGQPoller();
-
-  for (auto endpoint: endpoints){
-    SubSocket * msgq_sock = new MSGQSubSocket();
-    msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
-    poller->registerSocket(msgq_sock);
-
-    PubSocket * zmq_sock = new ZMQPubSocket();
-    zmq_sock->connect(zmq_context, endpoint);
-
-    sub2pub[msgq_sock] = zmq_sock;
-  }
-
-
-  while (true){
-    for (auto sub_sock : poller->poll(100)){
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      sub2pub[sub_sock]->sendMessage(msg);
-      delete msg;
-    }
-  }
-  return 0;
-}
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <cstddef>
-#include <chrono>
-#include <thread>
-#include <cassert>
-
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-
-#define MSGS 1e5
-
-int main() {
-  Context * c = Context::create();
-  SubSocket * sub_sock = SubSocket::create(c, "controlsState");
-  PubSocket * pub_sock = PubSocket::create(c, "controlsState");
-
-  char data[8];
-
-  Poller * poller = Poller::create({sub_sock});
-
-  auto start = std::chrono::steady_clock::now();
-
-  for (uint64_t i = 0; i < MSGS; i++){
-    *(uint64_t*)data = i;
-    pub_sock->send(data, 8);
-
-    auto r = poller->poll(100);
-
-    for (auto p : r){
-      Message * m = p->receive();
-      uint64_t ii = *(uint64_t*)m->getData();
-      assert(i == ii);
-      delete m;
-    }
-  }
-
-
-  auto end = std::chrono::steady_clock::now();
-  double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
-  double throughput = ((double) MSGS / (double) elapsed);
-  std::cout << throughput << " msg/s" << std::endl;
-
-  delete poller;
-  delete sub_sock;
-  delete pub_sock;
-  delete c;
-
-
-  return 0;
-}
@@ -1,30 +0,0 @@
-import time
-
-from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
-
-MSGS = 1e5
-
-if __name__ == "__main__":
-  c = Context()
-  sub_sock = SubSocket()
-  pub_sock = PubSocket()
-
-  sub_sock.connect(c, "controlsState")
-  pub_sock.connect(c, "controlsState")
-
-
-  poller = Poller()
-  poller.registerSocket(sub_sock)
-
-  t = time.time()
-  for i in range(int(MSGS)):
-    bts = i.to_bytes(4, 'little')
-    pub_sock.send(bts)
-
-    for s in poller.poll(100):
-      dat = s.receive()
-      ii = int.from_bytes(dat, 'little')
-      assert(i == ii)
-
-  dt = time.time() - t
-  print("%.1f msg/s" % (MSGS / dt))
@@ -1,190 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <csignal>
-#include <cerrno>
-
-
-#include "impl_msgq.hpp"
-
-volatile sig_atomic_t msgq_do_exit = 0;
-
-void sig_handler(int signal) {
-  assert(signal == SIGINT || signal == SIGTERM);
-  msgq_do_exit = 1;
-}
-
-
-MSGQContext::MSGQContext() {
-}
-
-MSGQContext::~MSGQContext() {
-}
-
-void MSGQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void MSGQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void MSGQMessage::takeOwnership(char * d, size_t sz) {
-  size = sz;
-  data = d;
-}
-
-void MSGQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-MSGQMessage::~MSGQMessage() {
-  this->close();
-}
-
-
-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
-  assert(context);
-  assert(address == "127.0.0.1");
-
-  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
-  if (r != 0){
-    return r;
-  }
-
-  msgq_init_subscriber(q);
-
-  if (conflate){
-    q->read_conflate = true;
-  }
-
-  timeout = -1;
-
-  return 0;
-}
-
-
-Message * MSGQSubSocket::receive(bool non_blocking){
-  msgq_do_exit = 0;
-
-  void (*prev_handler_sigint)(int);
-  void (*prev_handler_sigterm)(int);
-  if (!non_blocking){
-    prev_handler_sigint = std::signal(SIGINT, sig_handler);
-    prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
-  }
-
-  msgq_msg_t msg;
-
-  MSGQMessage *r = NULL;
-  r = NULL;
-
-  int rc = msgq_msg_recv(&msg, q);
-
-  // Hack to implement blocking read with a poller. Don't use this
-  while (!non_blocking && rc == 0 && msgq_do_exit == 0){
-    msgq_pollitem_t items[1];
-    items[0].q = q;
-
-    int t = (timeout != -1) ? timeout : 100;
-
-    int n = msgq_poll(items, 1, t);
-    rc = msgq_msg_recv(&msg, q);
-
-    // The poll indicated a message was ready, but the receive failed. Try again
-    if (n == 1 && rc == 0){
-      continue;
-    }
-
-    if (timeout != -1){
-      break;
-    }
-  }
-
-  if (rc > 0){
-    r = new MSGQMessage;
-    r->takeOwnership(msg.data, msg.size);
-  }
-  errno = msgq_do_exit ? EINTR : 0;
-
-  if (!non_blocking){
-    std::signal(SIGINT, prev_handler_sigint);
-    std::signal(SIGTERM, prev_handler_sigterm);
-  }
-
-  return (Message*)r;
-}
-
-void MSGQSubSocket::setTimeout(int t){
-  timeout = t;
-}
-
-MSGQSubSocket::~MSGQSubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-int MSGQPubSocket::connect(Context *context, std::string endpoint){
-  assert(context);
-
-  q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
-  msgq_init_publisher(q);
-
-  return 0;
-}
-
-int MSGQPubSocket::sendMessage(Message *message){
-  msgq_msg_t msg;
-  msg.data = message->getData();
-  msg.size = message->getSize();
-
-  return msgq_msg_send(&msg, q);
-}
-
-int MSGQPubSocket::send(char *data, size_t size){
-  msgq_msg_t msg;
-  msg.data = data;
-  msg.size = size;
-
-  return msgq_msg_send(&msg, q);
-}
-
-MSGQPubSocket::~MSGQPubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-
-void MSGQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> MSGQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  msgq_poll(polls, num_polls, timeout);
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}
@@ -1,64 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class MSGQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  MSGQContext();
-  void * getRawContext() {return context;}
-  ~MSGQContext();
-};
-
-class MSGQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void takeOwnership(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~MSGQMessage();
-};
-
-class MSGQSubSocket : public SubSocket {
-private:
-  msgq_queue_t * q = NULL;
-  int timeout;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return (void*)q;}
-  Message *receive(bool non_blocking=false);
-  ~MSGQSubSocket();
-};
-
-class MSGQPubSocket : public PubSocket {
-private:
-  msgq_queue_t * q = NULL;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~MSGQPubSocket();
-};
-
-class MSGQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  msgq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
-};
@@ -1,155 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <cerrno>
-
-#include <zmq.h>
-
-#include "services.h"
-#include "impl_zmq.hpp"
-
-static int get_port(std::string endpoint) {
-  int port = -1;
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == endpoint) {
-      port = it.port;
-      break;
-    }
-  }
-
-  assert(port >= 0);
-  return port;
-}
-
-ZMQContext::ZMQContext() {
-  context = zmq_ctx_new();
-}
-
-ZMQContext::~ZMQContext() {
-  zmq_ctx_term(context);
-}
-
-void ZMQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void ZMQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void ZMQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-ZMQMessage::~ZMQMessage() {
-  this->close();
-}
-
-
-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate){
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-
-Message * ZMQSubSocket::receive(bool non_blocking){
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-  Message *r = NULL;
-
-  if (rc >= 0){
-    // Make a copy to ensure the data is aligned
-    r = new ZMQMessage;
-    r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return r;
-}
-
-void ZMQSubSocket::setTimeout(int timeout){
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-ZMQSubSocket::~ZMQSubSocket(){
-  zmq_close(sock);
-}
-
-int ZMQPubSocket::connect(Context *context, std::string endpoint){
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int ZMQPubSocket::sendMessage(Message *message){
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int ZMQPubSocket::send(char *data, size_t size){
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-ZMQPubSocket::~ZMQPubSocket(){
-  zmq_close(sock);
-}
-
-
-void ZMQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> ZMQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0){
-    return r;
-  }
-
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}
@@ -1,63 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class ZMQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  ZMQContext();
-  void * getRawContext() {return context;}
-  ~ZMQContext();
-};
-
-class ZMQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~ZMQMessage();
-};
-
-class ZMQSubSocket : public SubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return sock;}
-  Message *receive(bool non_blocking=false);
-  ~ZMQSubSocket();
-};
-
-class ZMQPubSocket : public PubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~ZMQPubSocket();
-};
-
-class ZMQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  zmq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
-};
@@ -1,117 +0,0 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
-
-Context * Context::create(){
-  Context * c;
-  if (std::getenv("MSGQ")){
-    c = new MSGQContext();
-  } else {
-    c = new ZMQContext();
-  }
-  return c;
-}
-
-SubSocket * SubSocket::create(){
-  SubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQSubSocket();
-  } else {
-    s = new ZMQSubSocket();
-  }
-  return s;
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-PubSocket * PubSocket::create(){
-  PubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQPubSocket();
-  } else {
-    s = new ZMQPubSocket();
-  }
-  return s;
-}
-
-PubSocket * PubSocket::create(Context * context, std::string endpoint){
-  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-Poller * Poller::create(){
-  Poller * p;
-  if (std::getenv("MSGQ")){
-    p = new MSGQPoller();
-  } else {
-    p = new ZMQPoller();
-  }
-  return p;
-}
-
-Poller * Poller::create(std::vector<SubSocket*> sockets){
-  Poller * p = Poller::create();
-
-  for (auto s : sockets){
-    p->registerSocket(s);
-  }
-  return p;
-}
-
-extern "C" Context * messaging_context_create() {
-  return Context::create();
-}
-
-extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
-  return SubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
-  return PubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
-  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
-  return Poller::create(socketsVec);
-}
@@ -1,56 +0,0 @@
-#pragma once
-#include <cstddef>
-#include <vector>
-#include <string>
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
@@ -1,39 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp cimport bool
-
-
-cdef extern from "messaging.hpp":
-  cdef cppclass Context:
-    @staticmethod
-    Context * create()
-
-  cdef cppclass Message:
-    void init(size_t)
-    void init(char *, size_t)
-    void close()
-    size_t getSize()
-    char *getData()
-
-  cdef cppclass SubSocket:
-    @staticmethod
-    SubSocket * create()
-    int connect(Context *, string, string, bool)
-    Message * receive(bool)
-    void setTimeout(int)
-
-  cdef cppclass PubSocket:
-    @staticmethod
-    PubSocket * create()
-    int connect(Context *, string)
-    int sendMessage(Message *)
-    int send(char *, size_t)
-
-  cdef cppclass Poller:
-    @staticmethod
-    Poller * create()
-    void registerSocket(SubSocket *)
-    vector[SubSocket*] poll(int) nogil
@@ -1,151 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import sys
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc cimport errno
-
-
-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
-
-
-class MessagingError(Exception):
-  pass
-
-
-class MultiplePublishersError(MessagingError):
-  pass
-
-
-cdef class Context:
-  cdef cppContext * context
-
-  def __cinit__(self):
-    self.context = cppContext.create()
-
-  def term(self):
-    del self.context
-    self.context = NULL
-
-  def __dealloc__(self):
-    pass
-    # Deleting the context will hang if sockets are still active
-    # TODO: Figure out a way to make sure the context is closed last
-    # del self.context
-
-
-cdef class Poller:
-  cdef cppPoller * poller
-  cdef list sub_sockets
-
-  def __cinit__(self):
-    self.sub_sockets = []
-    self.poller = cppPoller.create()
-
-  def __dealloc__(self):
-    del self.poller
-
-  def registerSocket(self, SubSocket socket):
-    self.sub_sockets.append(socket)
-    self.poller.registerSocket(socket.socket)
-
-  def poll(self, timeout):
-    sockets = []
-    cdef int t = timeout
-
-    with nogil:
-        result = self.poller.poll(t)
-
-    for s in result:
-        socket = SubSocket()
-        socket.setPtr(s)
-        sockets.append(socket)
-
-    return sockets
-
-cdef class SubSocket:
-  cdef cppSubSocket * socket
-  cdef bool is_owner
-
-  def __cinit__(self):
-    self.socket = cppSubSocket.create()
-    self.is_owner = True
-
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    if self.is_owner:
-      del self.socket
-
-  cdef setPtr(self, cppSubSocket * ptr):
-    if self.is_owner:
-      del self.socket
-
-    self.is_owner = False
-    self.socket = ptr
-
-  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
-    r = self.socket.connect(context.context, endpoint, address, conflate)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def setTimeout(self, int timeout):
-    self.socket.setTimeout(timeout)
-
-  def receive(self, bool non_blocking=False):
-    msg = self.socket.receive(non_blocking)
-
-    if msg == NULL:
-      # If a blocking read returns no message check errno if SIGINT was caught in the C++ code
-      if errno.errno == errno.EINTR:
-        print("SIGINT received, exiting")
-        sys.exit(1)
-
-      return None
-    else:
-      sz = msg.getSize()
-      m = msg.getData()[:sz]
-      del msg
-
-      return m
-
-
-cdef class PubSocket:
-  cdef cppPubSocket * socket
-
-  def __cinit__(self):
-    self.socket = cppPubSocket.create()
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    del self.socket
-
-  def connect(self, Context context, string endpoint):
-    r = self.socket.connect(context.context, endpoint)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def send(self, string data):
-    length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
-
-    if r != length:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
@@ -1,56 +0,0 @@
-import os
-import subprocess
-import sysconfig
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-libraries = ['zmq']
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64":
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='CAN parser',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "messaging_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          libraries=libraries,
-          extra_objects=[
-            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
-          ]
-        )
-      ),
-      nthreads=4,
-)
@@ -1,441 +0,0 @@
-#include <iostream>
-#include <cassert>
-#include <cerrno>
-#include <cmath>
-#include <cstring>
-#include <cstdint>
-#include <chrono>
-#include <algorithm>
-#include <cstdlib>
-#include <csignal>
-#include <random>
-
-#include <poll.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/syscall.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <stdio.h>
-
-#include "msgq.hpp"
-
-void sigusr1_handler(int signal) {
-  assert(signal == SIGUSR1);
-}
-
-uint64_t msgq_get_uid(void){
-  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
-
-  uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
-  return uid;
-}
-
-int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
-  msg->size = size;
-  msg->data = new(std::nothrow) char[size];
-
-  return (msg->data == NULL) ? -1 : 0;
-}
-
-
-int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
-  int r = msgq_msg_init_size(msg, size);
-
-  if (r == 0)
-    memcpy(msg->data, data, size);
-
-  return r;
-}
-
-int msgq_msg_close(msgq_msg_t * msg){
-  if (msg->size > 0)
-    delete[] msg->data;
-
-  msg->size = 0;
-
-  return 0;
-}
-
-void msgq_reset_reader(msgq_queue_t * q){
-  int id = q->reader_id;
-  q->read_valids[id]->store(true);
-  q->read_pointers[id]->store(*q->write_pointer);
-}
-
-void msgq_wait_for_subscriber(msgq_queue_t *q){
-  while (*q->num_readers == 0){
-    ;
-  }
-
-  return;
-}
-
-
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
-  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-
-  std::signal(SIGUSR1, sigusr1_handler);
-
-  const char * prefix = "/dev/shm/";
-  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
-  strcpy(full_path, prefix);
-  strcat(full_path, path);
-
-  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  delete[] full_path;
-
-  if (fd < 0)
-    return -1;
-
-  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
-  if (rc < 0)
-    return -1;
-
-  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
-  close(fd);
-
-  if (mem == NULL)
-    return -1;
-
-  q->mmap_p = mem;
-
-  msgq_header_t *header = (msgq_header_t *)mem;
-
-  // Setup pointers to header segment
-  q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
-  q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
-  q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
-    q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
-    q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
-  }
-
-  q->data = mem + sizeof(msgq_header_t);
-  q->size = size;
-  q->reader_id = -1;
-
-  q->endpoint = path;
-  q->read_conflate = false;
-
-  return 0;
-}
-
-void msgq_close_queue(msgq_queue_t *q){
-  if (q->mmap_p != NULL){
-    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
-  }
-}
-
-
-void msgq_init_publisher(msgq_queue_t * q) {
-  std::cout << "Starting publisher" << std::endl;
-  uint64_t uid = msgq_get_uid();
-
-  *q->write_uid = uid;
-  *q->num_readers = 0;
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    *q->read_valids[i] = false;
-    *q->read_uids[i] = 0;
-  }
-
-  q->write_uid_local = uid;
-}
-
-void msgq_init_subscriber(msgq_queue_t * q) {
-  assert(q != NULL);
-  assert(q->num_readers != NULL);
-
-  uint64_t uid = msgq_get_uid();
-
-  // Get reader id
-  while (true){
-    uint64_t cur_num_readers = *q->num_readers;
-    uint64_t new_num_readers = cur_num_readers + 1;
-
-    // No more slots available. Reset all subscribers to kick out inactive ones
-    if (new_num_readers > NUM_READERS){
-      std::cout << "Warning, evicting all subscribers!" << std::endl;
-      *q->num_readers = 0;
-
-      for (size_t i = 0; i < NUM_READERS; i++){
-        *q->read_valids[i] = false;
-
-        uint64_t old_uid = *q->read_uids[i];
-        *q->read_uids[i] = 0;
-
-        // Wake up reader in case they are in a poll
-        syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
-      }
-
-      continue;
-    }
-
-    // Use atomic compare and swap to handle race condition
-    // where two subscribers start at the same time
-    if (std::atomic_compare_exchange_strong(q->num_readers,
-                                            &cur_num_readers,
-                                            new_num_readers)){
-      q->reader_id = cur_num_readers;
-      q->read_uid_local = uid;
-
-      // We start with read_valid = false,
-      // on the first read the read pointer will be synchronized with the write pointer
-      *q->read_valids[cur_num_readers] = false;
-      *q->read_pointers[cur_num_readers] = 0;
-      *q->read_uids[cur_num_readers] = uid;
-      break;
-    }
-  }
-
-  std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
-  msgq_reset_reader(q);
-}
-
-int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
-  // Die if we are no longer the active publisher
-  if (q->write_uid_local != *q->write_uid){
-    std::cout << "Killing old publisher: " << q->endpoint << std::endl;
-    errno = EADDRINUSE;
-    return -1;
-  }
-
-  uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
-
-  // We need to fit at least three messages in the queue,
-  // then we can always safely access the last message
-  assert(3 * total_msg_size <= q->size);
-
-  uint64_t num_readers = *q->num_readers;
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char *p = q->data + write_pointer; // add base offset
-
-  // Check remaining space
-  // Always leave space for a wraparound tag for the next message, including alignment
-  int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
-  if (remaining_space <= 0){
-    // Write -1 size tag indicating wraparound
-    *(int64_t*)p = -1;
-
-    // Invalidate all readers that are beyond the write pointer
-    // TODO: should we handle the case where a new reader shows up while this is running?
-    for (uint64_t i = 0; i < num_readers; i++){
-      uint64_t read_pointer = *q->read_pointers[i];
-      uint64_t read_cycles = read_pointer >> 32;
-      read_pointer &= 0xFFFFFFFF;
-
-      if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
-        *q->read_valids[i] = false;
-      }
-    }
-
-    // Update global and local copies of write pointer and write_cycles
-    write_pointer = 0;
-    write_cycles = write_cycles + 1;
-    PACK64(*q->write_pointer, write_cycles, write_pointer);
-
-    // Set actual pointer to the beginning of the data segment
-    p = q->data;
-  }
-
-  // Invalidate readers that are in the area that will be written
-  uint64_t start = write_pointer;
-  uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
-
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint32_t read_cycles, read_pointer;
-    UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
-
-    if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
-      *q->read_valids[i] = false;
-    }
-  }
-
-
-  // Write size tag
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  *size_p = msg->size;
-
-  // Copy data
-  memcpy(p + sizeof(int64_t), msg->data, msg->size);
-  __sync_synchronize();
-
-  // Update write pointer
-  uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
-  PACK64(*q->write_pointer, write_cycles, new_ptr);
-
-  // Notify readers
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint64_t reader_uid = *q->read_uids[i];
-
-    syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
-  }
-
-  return msg->size;
-}
-
-
-int msgq_msg_ready(msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  // Check if new message is available
-  return (read_pointer != write_pointer);
-}
-
-int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char * p = q->data + read_pointer;
-
-  // Check if new message is available
-  if (read_pointer == write_pointer) {
-    msg->size = 0;
-    return 0;
-  }
-
-  // Read potential message size
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  std::int64_t size = *size_p;
-
-  // Check if the size that was read is valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  // If size is -1 the buffer was full, and we need to wrap around
-  if (size == -1){
-    read_cycles++;
-    PACK64(*q->read_pointers[id], read_cycles, 0);
-    goto start;
-  }
-
-  // crashing is better than passing garbage data to the consumer
-  // the size will have weird value if it was overwritten by data accidentally
-  assert((uint64_t)size < q->size);
-  assert(size > 0);
-
-  uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
-
-  // If conflate is true, check if this is the latest message, else start over
-  if (q->read_conflate){
-    if (new_read_pointer != write_pointer){
-      // Update read pointer
-      PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-      goto start;
-    }
-  }
-
-  // Copy message
-  if (msgq_msg_init_size(msg, size) < 0)
-    return -1;
-
-  __sync_synchronize();
-  memcpy(msg->data, p + sizeof(int64_t), size);
-  __sync_synchronize();
-
-  // Update read pointer
-  PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-
-  // Check if the actual data that was copied is valid
-  if (!*q->read_valids[id]){
-    msgq_msg_close(msg);
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-
-  return msg->size;
-}
-
-
-
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
-  assert(timeout >= 0);
-
-  int num = 0;
-
-  // Check if messages ready
-  for (size_t i = 0; i < nitems; i++) {
-    items[i].revents = msgq_msg_ready(items[i].q);
-    if (items[i].revents) num++;
-  }
-
-  int ms = (timeout == -1) ? 100 : timeout;
-  struct timespec ts;
-  ts.tv_sec = ms / 1000;
-  ts.tv_nsec = (ms % 1000) * 1000 * 1000;
-
-
-  while (num == 0) {
-    int ret;
-
-    ret = nanosleep(&ts, &ts);
-
-    // Check if messages ready
-    for (size_t i = 0; i < nitems; i++) {
-      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
-        num += 1;
-        items[i].revents = 1;
-      }
-    }
-
-    // exit if we had a timeout and the sleep finished
-    if (timeout != -1 && ret == 0){
-      break;
-    }
-  }
-
-  return num;
-}
@@ -1,66 +0,0 @@
-#pragma once
-#include <cstdint>
-#include <cstring>
-#include <string>
-#include <atomic>
-
-#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
-#define ALIGN(n) ((n + (8 - 1)) & -8)
-
-#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
-
-struct  msgq_header_t {
-  uint64_t num_readers;
-  uint64_t write_pointer;
-  uint64_t write_uid;
-  uint64_t read_pointers[NUM_READERS];
-  uint64_t read_valids[NUM_READERS];
-  uint64_t read_uids[NUM_READERS];
-};
-
-struct msgq_queue_t {
-  std::atomic<uint64_t> *num_readers;
-  std::atomic<uint64_t> *write_pointer;
-  std::atomic<uint64_t> *write_uid;
-  std::atomic<uint64_t> *read_pointers[NUM_READERS];
-  std::atomic<uint64_t> *read_valids[NUM_READERS];
-  std::atomic<uint64_t> *read_uids[NUM_READERS];
-  char * mmap_p;
-  char * data;
-  size_t size;
-  int reader_id;
-  uint64_t read_uid_local;
-  uint64_t write_uid_local;
-
-  bool read_conflate;
-  std::string endpoint;
-};
-
-struct msgq_msg_t {
-  size_t size;
-  char * data;
-};
-
-struct msgq_pollitem_t {
-  msgq_queue_t *q;
-  int revents;
-};
-
-void msgq_wait_for_subscriber(msgq_queue_t *q);
-void msgq_reset_reader(msgq_queue_t *q);
-
-int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
-int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
-int msgq_msg_close(msgq_msg_t *msg);
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
-void msgq_close_queue(msgq_queue_t *q);
-void msgq_init_publisher(msgq_queue_t * q);
-void msgq_init_subscriber(msgq_queue_t * q);
-
-int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_ready(msgq_queue_t * q);
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
@@ -1,56 +0,0 @@
-# MSGQ: A lock free single producer multi consumer message queue
-
-[![Build Status](https://dev.azure.com/commaai/default/_apis/build/status/commaai.msgq?branchName=master)](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
-
-## What is MSGQ?
-MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
-
-## Storage
-The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
-
-1. A counter to the number of readers that are active
-2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
-3. A cycle counter for the writer. This counter is incremented when the writer wraps around
-4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
-5. N counters,  counting the number of cycles for all the readers
-6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
-
-The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
-
-The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
-
-
-## Writing
-Writing involves the following steps:
-
-1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
-2. Write the message
-3. Increase the write pointer by the size of the message
-
-In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
-
-There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
-
-## Reset reader
-When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
-
-1. Set valid flag
-2. Set read cycle counter to that of the writer
-3. Set read pointer to write pointer
-
-## Reading
-Reading involves the following steps:
-
-1. Read the size field at the current read pointer
-2. Read the validity flag
-3. Copy the data out of the buffer
-4. Increase the read pointer by the size of the message
-5. Check the validity flag again
-
-Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
-
-If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
-
-If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
-
-If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
@@ -1,395 +0,0 @@
-#include "catch2/catch.hpp"
-#include "msgq.hpp"
-
-TEST_CASE("ALIGN"){
-  REQUIRE(ALIGN(0) == 0);
-  REQUIRE(ALIGN(1) == 8);
-  REQUIRE(ALIGN(7) == 8);
-  REQUIRE(ALIGN(8) == 8);
-  REQUIRE(ALIGN(99999) == 100000);
-}
-
-TEST_CASE("msgq_msg_init_size"){
-  const size_t msg_size = 30;
-  msgq_msg_t msg;
-
-  msgq_msg_init_size(&msg, msg_size);
-  REQUIRE(msg.size == msg_size);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_init_data"){
-  const size_t msg_size = 30;
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-  REQUIRE(msg.size == msg_size);
-  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-
-TEST_CASE("msgq_init_subscriber"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  REQUIRE(*q.num_readers == 0);
-
-  q.reader_id = 1;
-  *q.read_valids[0] = false;
-  *q.read_pointers[0] = ((uint64_t)1 << 32);
-
-  *q.write_pointer = 255;
-
-  msgq_init_subscriber(&q);
-  REQUIRE(q.read_conflate == false);
-  REQUIRE(*q.read_valids[0] == true);
-  REQUIRE((*q.read_pointers[0] >> 32) == 0);
-  REQUIRE((*q.read_pointers[0]  & 0xFFFFFFFF) == 255);
-}
-
-TEST_CASE("msgq_msg_send first message"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE(*q.write_pointer == 0);
-
-  size_t msg_size = 128;
-
-  SECTION("Aligned message size"){
-  }
-  SECTION("Unaligned message size"){
-    msg_size--;
-  }
-
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-
-  msgq_msg_send(&msg, &q);
-  REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
-  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
-  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_send test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
-  REQUIRE((*q.write_pointer >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, msg_size);
-
-  for (int i = 0; i < 8; i++) {
-    msgq_msg_send(&msg, &q);
-  }
-  // Check 8th message was written at the beginning
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
-
-  // Check cycle count
-  REQUIRE((*q.write_pointer >> 32) == 1);
-
-  // Check wraparound tag
-  char * tag_location = q.data;
-  tag_location += 7 * (msg_size + sizeof(int64_t));
-  REQUIRE(*(int64_t*)tag_location == -1);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_recv test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-
-  REQUIRE((*q_pub.write_pointer >> 32) == 0);
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg1;
-  msgq_msg_init_size(&msg1, msg_size);
-
-
-  SECTION("Check cycle counter after reset") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-    }
-
-    msgq_msg_t msg2;
-    msgq_msg_recv(&msg2, &q_sub);
-    REQUIRE(msg2.size == 0); // Reader had to reset
-    msgq_msg_close(&msg2);
-
-  }
-  SECTION("Check cycle counter while keeping up with writer") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-
-      msgq_msg_t msg2;
-      msgq_msg_recv(&msg2, &q_sub);
-      REQUIRE(msg2.size > 0);
-      msgq_msg_close(&msg2);
-    }
-  }
-
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
-  msgq_msg_close(&msg1);
-}
-
-TEST_CASE("msgq_msg_send test invalidation"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-  *q_sub.write_pointer = (uint64_t)1 << 32;
-
-  REQUIRE(*q_sub.read_valids[0] == true);
-
-  SECTION("read pointer in tag"){
-    *q_sub.read_pointers[0] = 0;
-  }
-  SECTION("read pointer in data section"){
-    *q_sub.read_pointers[0] = 64;
-  }
-  SECTION("read pointer in wraparound section"){
-    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
-    *q_sub.read_pointers[0] = 1020;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, 128);
-  msgq_msg_send(&msg, &q_pub);
-
-  REQUIRE(*q_sub.read_valids[0] == false);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_init_subscriber init 2 subscribers"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q1, q2;
-  msgq_new_queue(&q1, "test_queue", 1024);
-  msgq_new_queue(&q2, "test_queue", 1024);
-
-  *q1.num_readers = 0;
-
-  REQUIRE(*q1.num_readers == 0);
-  REQUIRE(*q2.num_readers == 0);
-
-  msgq_init_subscriber(&q1);
-  REQUIRE(*q1.num_readers == 1);
-  REQUIRE(*q2.num_readers == 1);
-  REQUIRE(q1.reader_id == 0);
-
-  msgq_init_subscriber(&q2);
-  REQUIRE(*q1.num_readers == 2);
-  REQUIRE(*q2.num_readers == 2);
-  REQUIRE(q2.reader_id == 1);
-}
-
-
-TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-  reader.read_conflate = true;
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  int n_received = 0;
-  int n_skipped = 0;
-
-  for (uint64_t i = 0; i < 1e5; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-    msgq_msg_close(&outgoing_msg);
-
-    if (i % 10 == 0){
-      msgq_msg_t msg1;
-      msgq_msg_recv(&msg1, &reader);
-
-      if (msg1.size == 0){
-        n_skipped++;
-      } else {
-        n_received++;
-      }
-      msgq_msg_close(&msg1);
-    }
-  }
-
-  // TODO: verify these numbers by hand
-  REQUIRE(n_received == 8572);
-  REQUIRE(n_skipped == 1428);
-}
-
-TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader1, reader2;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader1, "test_queue", 1024);
-  msgq_new_queue(&reader2, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader1);
-  msgq_init_subscriber(&reader2);
-
-  for (uint64_t i = 0; i < 1024 * 3; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-
-    msgq_msg_t msg1, msg2;
-    msgq_msg_recv(&msg1, &reader1);
-    msgq_msg_recv(&msg2, &reader2);
-
-    REQUIRE(msg1.size == sizeof(uint64_t));
-    REQUIRE(msg2.size == sizeof(uint64_t));
-    REQUIRE(*(uint64_t*)msg1.data == i);
-    REQUIRE(*(uint64_t*)msg2.data == i);
-
-    msgq_msg_close(&outgoing_msg);
-    msgq_msg_close(&msg1);
-    msgq_msg_close(&msg2);
-  }
-}
@@ -1,14 +0,0 @@
-from messaging_pyx import Context, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-
-if __name__ == "__main__":
-  c = Context()
-  pub_sock = PubSocket()
-  pub_sock.connect(c, "controlsState")
-
-  for i in range(int(1e10)):
-    print(i)
-    sub_sock = SubSocket()
-    sub_sock.connect(c, "controlsState")
-
-    pub_sock.send(b'a')
-    print(sub_sock.receive())
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
@@ -1,142 +0,0 @@
-import unittest
-import time
-import cereal.messaging as messaging
-
-import concurrent.futures
-
-
-def poller():
-  context = messaging.Context()
-
-  p = messaging.Poller()
-
-  sub = messaging.SubSocket()
-  sub.connect(context, 'controlsState')
-  p.registerSocket(sub)
-
-  socks = p.poll(10000)
-  r = [s.receive(non_blocking=True) for s in socks]
-
-  return r
-
-
-class TestPoller(unittest.TestCase):
-  def test_poll_once(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
-      for _ in range(10):
-        messaging.SubSocket().connect(c, 'controlsState')
-
-      time.sleep(0.1)
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_multiple_publishers_exception(self):
-    context = messaging.Context()
-
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
-      pub1.connect(context, 'controlsState')
-
-      pub2 = messaging.PubSocket()
-      pub2.connect(context, 'controlsState')
-
-      pub1.send("a")
-
-    del pub1
-    del pub2
-    context.term()
-
-  def test_multiple_messages(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState')
-
-    time.sleep(0.1)  # Slow joiner
-
-    for i in range(100):
-      pub.send(str(i))
-
-    msg_seen = False
-    i = 0
-    while True:
-      r = sub.receive(non_blocking=True)
-
-      if r is not None:
-        self.assertEqual(str(i), r.decode('utf8'))
-
-        msg_seen = True
-        i += 1
-
-      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
-        break
-
-    del pub
-    del sub
-    context.term()
-
-  def test_conflate(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState', conflate=True)
-
-    time.sleep(0.1)  # Slow joiner
-    pub.send('a')
-    pub.send('b')
-
-    self.assertEqual(b'b', sub.receive())
-
-    del pub
-    del sub
-    context.term()
-
-
-if __name__ == "__main__":
-  unittest.main()
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import os
-import yaml
-
-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
-    self.port = port
-    self.should_log = should_log
-    self.frequency = frequency
-    self.decimation = decimation
-
-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
-
-service_list = {}
-with open(service_list_path, "r") as f:
-  for k, v in yaml.safe_load(f).items():
-    decimation = None
-    if len(v) == 4:
-      decimation = v[3]
-
-    service_list[k] = Service(v[0], v[1], v[2], decimation)
-
-if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  print("#ifndef __SERVICES_H")
-  print("#define __SERVICES_H")
-  print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
-  print("static struct service services[] = {")
-  for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
-
@@ -1,7 +1,6 @@
 #!/bin/bash

-# Only pyflakes checks (--select=F)
-flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
 RESULT=$?
 if [ $RESULT -eq 0 ]; then
    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
@@ -1 +0,0 @@
-*.cpp
@@ -1,6 +0,0 @@
-Import('env')
-
-# parser
-env.Command(['common_pyx.so'],
-  ['common_pyx_setup.py', 'clock.pyx'],
-  "cd common && python3 common_pyx_setup.py build_ext --inplace")
@@ -1,73 +0,0 @@
-import binascii
-import itertools
-import re
-import struct
-import subprocess
-
-def getprop(key):
-  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
-
-def get_imei():
-  ret = getprop("oem.device.imeicache")
-  if ret == "":
-    ret = "000000000000000"
-  return ret
-
-def get_serial():
-  return getprop("ro.serialno")
-
-def get_subscriber_info():
-  ret = parse_service_call_string(["iphonesubinfo", "7"])
-  if ret is None or len(ret) < 8:
-    return ""
-  return ret
-
-def reboot(reason=None):
-  if reason is None:
-    reason_args = ["null"]
-  else:
-    reason_args = ["s16", reason]
-
-  subprocess.check_output([
-    "service", "call", "power", "16", # IPowerManager.reboot
-    "i32", "0", # no confirmation,
-    *reason_args,
-    "i32", "1" # wait
-  ])
-
-def parse_service_call_unpack(call, fmt):
-  r = parse_service_call_bytes(call)
-  try:
-    return struct.unpack(fmt, r)[0]
-  except Exception:
-    return None
-
-def parse_service_call_string(call):
-  r = parse_service_call_bytes(call)
-  try:
-    r = r[8:] # Cut off length field
-    r = r.decode('utf_16_be')
-
-    # All pairs of two characters seem to be swapped. Not sure why
-    result = ""
-    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
-        result += b + a
-
-    result = result.replace('\x00', '')
-
-    return result
-  except Exception:
-    return None
-
-def parse_service_call_bytes(call):
-  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
-  if 'Parcel' not in ret:
-    return None
-
-  try:
-    r = b""
-    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
-      r += binascii.unhexlify(hex_part)
-    return r
-  except Exception:
-    return None
@@ -4,7 +4,7 @@ from datetime import datetime, timedelta

 from selfdrive.version import version

-class Api():
+class Api(object):
  def __init__(self, dongle_id):
    self.dongle_id = dongle_id
    with open('/persist/comma/id_rsa') as f:
@@ -27,7 +27,7 @@ class Api():
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    return jwt.encode(payload, self.private_key, algorithm='RS256')

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
@@ -1,98 +0,0 @@
-import os
-import subprocess
-import glob
-import hashlib
-import shutil
-from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
-
-android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
-
-def get_installed_apks():
-  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
-  ret = {}
-  for x in dat:
-    if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
-      ret[k] = v
-  return ret
-
-def install_apk(path):
-  # can only install from world readable path
-  install_path = "/sdcard/%s" % os.path.basename(path)
-  shutil.copyfile(path, install_path)
-
-  ret = subprocess.call(["pm", "install", "-r", install_path])
-  os.remove(install_path)
-  return ret == 0
-
-def start_frame():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
-
-def set_package_permissions():
-  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
-  appops_set("ai.comma.plus.offroad", "SU", "allow")
-  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
-  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
-
-def appops_set(package, op, mode):
-  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
-
-def pm_grant(package, permission):
-  system(f"pm grant {package} {permission}")
-
-def system(cmd):
-  try:
-    cloudlog.info("running %s" % cmd)
-    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
-  except subprocess.CalledProcessError as e:
-    cloudlog.event("running failed",
-      cmd=e.cmd,
-      output=e.output[-1024:],
-      returncode=e.returncode)
-
-# *** external functions ***
-
-def update_apks():
-  # install apks
-  installed = get_installed_apks()
-
-  install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
-  for apk in install_apks:
-    app = os.path.basename(apk)[:-4]
-    if app not in installed:
-      installed[app] = None
-
-  cloudlog.info("installed apks %s" % (str(installed), ))
-
-  for app in installed.keys():
-    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
-    if not os.path.exists(apk_path):
-      continue
-
-    h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
-    h2 = None
-    if installed[app] is not None:
-      h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
-      cloudlog.info("comparing version of %s  %s vs %s" % (app, h1, h2))
-
-    if h2 is None or h1 != h2:
-      cloudlog.info("installing %s" % app)
-
-      success = install_apk(apk_path)
-      if not success:
-        cloudlog.info("needing to uninstall %s" % app)
-        system("pm uninstall %s" % app)
-        success = install_apk(apk_path)
-
-      assert success
-
-def pm_apply_packages(cmd):
-  for p in android_packages:
-    system("pm %s %s" % (cmd, p))
-
-if __name__ == "__main__":
-  update_apks()
-
@@ -1,20 +0,0 @@
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++11"]
-
-setup(name='Common',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "common_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-        )
-      ),
-      nthreads=4,
-)
@@ -1,23 +0,0 @@
-import os
-import sysconfig
-from Cython.Distutils import build_ext
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
                "factor", "offset", "tmin", "tmax", "units"])


-class dbc():
+class dbc(object):
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn, encoding="ascii") as f:
+    with open(fn) as f:
      self.txt = f.readlines()
    self._warned_addresses = set()

@@ -41,7 +41,7 @@ class dbc():
    self.def_vals = defaultdict(list)

    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]

    for l in self.txt:
      l = l.strip()
@@ -101,8 +101,13 @@ class dbc():
        defvals = defvals.replace("?",r"\?") #escape sequence in C++
        defvals = defvals.split('"')[:-1]

-        # convert strings to UPPER_CASE_WITH_UNDERSCORES
-        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
+        defs = defvals[1::2]
+        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
+        for i,d in enumerate(defs):
+          d = defs[i].strip().upper()
+          defs[i] = d.replace(" ","_")
+
+        defvals[1::2] = defs
        defvals = '"'+"".join(str(i) for i in defvals)+'"'

        self.def_vals[ids].append((sgname, defvals))
@@ -147,20 +152,22 @@ class dbc():
      ival = dd.get(s.name)
      if ival is not None:

+        b2 = s.size
+        if s.is_little_endian:
+          b1 = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+        bo = 64 - (b1 + s.size)
+
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

        if s.is_signed and ival < 0:
-          ival = (1 << s.size) + ival
+          ival = (1 << b2) + ival

-        if s.is_little_endian:
-          shift = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-          shift = 64 - (b1 + s.size)
-
-        mask = ((1 << s.size) - 1) << shift
-        dat = (ival & ((1 << s.size) - 1)) << shift
+        shift = b1 if s.is_little_endian else bo
+        mask = ((1 << b2) - 1) << shift
+        dat = (ival & ((1 << b2) - 1)) << shift

        if s.is_little_endian:
          mask = self.reverse_bytes(mask)
@@ -206,7 +213,7 @@ class dbc():
    if debug:
      print(name)

-    st = x[2].ljust(8, b'\x00')
+    st = x[2].ljust(8, '\x00')
    le, be = None, None

    for s in msg[1]:
@@ -220,24 +227,30 @@ class dbc():
      factor = s[5]
      offset = s[6]

+      b2 = signal_size
+      if little_endian:
+        b1 = start_bit
+      else:
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+      bo = 64 - (b1 + signal_size)
+
      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
+        shift_amount = b1
        tmp = le
-        shift_amount = start_bit
      else:
        if be is None:
          be = struct.unpack(">Q", st)[0]
+        shift_amount = bo
        tmp = be
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-        shift_amount = 64 - (b1 + signal_size)

      if shift_amount < 0:
        continue

-      tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
-      if signed and (tmp >> (signal_size - 1)):
-        tmp -= (1 << signal_size)
+      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
+      if signed and (tmp >> (b2 - 1)):
+        tmp -= (1 << b2)

      tmp = tmp * factor + offset

@@ -257,6 +270,7 @@ class dbc():

 if __name__ == "__main__":
   from opendbc import DBC_PATH
+   import numpy as np

   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
@@ -266,7 +280,7 @@ if __name__ == "__main__":

   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
+   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)

   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
   encoded = dbc_test.encode(*msg)
@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
  if libraries is None:
    libraries = []

-  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
+  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
@@ -32,7 +32,7 @@ def get_tmpdir_on_same_filesystem(path):
    return "/{}/runner/tmp".format(parts[1])
  return "/tmp"

-class AutoMoveTempdir():
+class AutoMoveTempdir(object):
  def __init__(self, target_path, temp_dir=None):
    self._target_path = target_path
    self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -52,7 +52,7 @@ class AutoMoveTempdir():
    else:
      shutil.rmtree(self._path)

-class NamedTemporaryDir():
+class NamedTemporaryDir(object):
  def __init__(self, temp_dir=None):
    self._path = tempfile.mkdtemp(dir=temp_dir)

@@ -1 +0,0 @@
-simple_kalman_impl.c
@@ -0,0 +1,10 @@
+all: simple_kalman_impl.so
+
+simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
+	python2 simple_kalman_setup.py build_ext --inplace
+	rm -rf build
+	rm simple_kalman_impl.c
+
+.PHONY: clean
+clean:
+	rm -f simple_kalman_impl.so
@@ -1,6 +0,0 @@
-Import('env')
-
-env.Command(['simple_kalman_impl.so'],
-  ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
-  "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
-
@@ -1,3 +1,10 @@
 # pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
+import os
+import subprocess
+
+kalman_dir = os.path.dirname(os.path.abspath(__file__))
+subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
+
+from simple_kalman_impl import KF1D as KF1D
+# Silence pyflakes
 assert KF1D
@@ -1,4 +1,3 @@
-# cython: language_level=3

 cdef class KF1D:
  def __init__(self, x0, A, C, K):
@@ -33,4 +32,4 @@ cdef class KF1D:
  @x.setter
  def x(self, x):
    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
+    self.x1_0 = x[1][0]
@@ -1,9 +1,5 @@
-from distutils.core import Extension, setup
-
+from distutils.core import setup, Extension
 from Cython.Build import cythonize

-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
 setup(name='Simple Kalman Implementation',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
@@ -12,10 +12,7 @@ def interp(x, xp, fp):
      hi += 1
    low = hi - 1
    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 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)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 """ROS has a parameter server, we have files.

 The parameter store is a persistent key value store, implemented as a directory with a writer lock.
@@ -55,55 +55,43 @@ keys = {
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CommunityFeaturesToggle": [TxType.PERSISTENT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "HasCompletedSetup": [TxType.PERSISTENT],
-  "IsLdwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
  "IsRHD": [TxType.PERSISTENT],
-  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "LastUpdateTime": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
-  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
-  "ReleaseNotes": [TxType.PERSISTENT],
  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  "SpeedLimitOffset": [TxType.PERSISTENT],
  "SubscriberInfo": [TxType.PERSISTENT],
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
-  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "Version": [TxType.PERSISTENT],
-  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  #dragonpilot config
  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
  "DragonEnableUploader": [TxType.PERSISTENT],
  "DragonNoctuaMode": [TxType.PERSISTENT],
  "DragonCacheCar": [TxType.PERSISTENT],
@@ -111,6 +99,7 @@ keys = {
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
  "DragonToyotaStockDSU": [TxType.PERSISTENT],
  "DragonLatCtrl": [TxType.PERSISTENT],
  "DragonUISpeed": [TxType.PERSISTENT],
@@ -125,9 +114,6 @@ keys = {
  "DragonEnableAutonavi": [TxType.PERSISTENT],
  "DragonBootAutonavi": [TxType.PERSISTENT],
  "DragonRunAutonavi": [TxType.PERSISTENT],
-  "DragonEnableAegis": [TxType.PERSISTENT],
-  "DragonBootAegis": [TxType.PERSISTENT],
-  "DragonRunAegis": [TxType.PERSISTENT],
  "DragonEnableMixplorer": [TxType.PERSISTENT],
  "DragonRunMixplorer": [TxType.PERSISTENT],
  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
@@ -145,21 +131,6 @@ keys = {
  "DragonUIPath": [TxType.PERSISTENT],
  "DragonUIBlinker": [TxType.PERSISTENT],
  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
-  "DragonCarModel": [TxType.PERSISTENT],
-  "DragonCarVIN": [TxType.PERSISTENT],
-  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
-  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
-  "DragonToyotaSnGMod": [TxType.PERSISTENT],
-  "DragonIsEON": [TxType.PERSISTENT],
-  "DragonHWChecked": [TxType.PERSISTENT],
-  "DragonEnableSRLearner": [TxType.PERSISTENT],
-  "DragonWazeMode": [TxType.PERSISTENT],
-  "DragonRunWaze": [TxType.PERSISTENT],
-  "DragonEnableAssistedLC": [TxType.PERSISTENT],
-  "DragonEnableAutoLC": [TxType.PERSISTENT],
-  "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
-  "DragonAutoLCMinMPH": [TxType.PERSISTENT],
-  "DragonAutoLCDelay": [TxType.PERSISTENT],
 }


@@ -171,7 +142,7 @@ def fsync_dir(path):
    os.close(fd)


-class FileLock():
+class FileLock(object):
  def __init__(self, path, create):
    self._path = path
    self._create = create
@@ -187,7 +158,7 @@ class FileLock():
      self._fd = None


-class DBAccessor():
+class DBAccessor(object):
  def __init__(self, path):
    self._path = path
    self._vals = None
@@ -357,9 +328,6 @@ def read_db(params_path, key):
    return None

 def write_db(params_path, key, value):
-  if isinstance(value, str):
-    value = value.encode('utf8')
-
  prev_umask = os.umask(0)
  lock = FileLock(params_path+"/.lock", True)
  lock.acquire()
@@ -378,7 +346,7 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

-class Params():
+class Params(object):
  def __init__(self, db='/data/params'):
    self.db = db

@@ -409,7 +377,7 @@ class Params():
    with self.transaction(write=True) as txn:
      txn.delete(key)

-  def get(self, key, block=False, encoding=None):
+  def get(self, key, block=False):
    if key not in keys:
      raise UnknownKeyName(key)

@@ -419,21 +387,9 @@ class Params():
        break
      # is polling really the best we can do?
      time.sleep(0.05)
-
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-
    return ret

  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-
-    Use the put_nonblocking helper function in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-
    if key not in keys:
      raise UnknownKeyName(key)

@@ -1,6 +1,6 @@
 import time

-class Profiler():
+class Profiler(object):
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
@@ -6,11 +6,18 @@ import subprocess
 import multiprocessing
 from cffi import FFI

-from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot


 # time step for each process
 DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
@@ -36,7 +43,7 @@ def set_realtime_priority(level):
  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-class Ratekeeper():
+class Ratekeeper(object):
  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
@@ -1,53 +0,0 @@
-import os
-import subprocess
-from common.basedir import BASEDIR
-
-
-class Spinner():
-  def __init__(self):
-    self.spinner_proc = subprocess.Popen(["./spinner"],
-                                         stdin=subprocess.PIPE,
-                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                         close_fds=True)
-
-  def __enter__(self):
-    return self
-
-  def update(self, spinner_text):
-    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-    self.spinner_proc.stdin.flush()
-
-  def close(self):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.close()
-      self.spinner_proc.terminate()
-      self.spinner_proc = None
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, type, value, traceback):
-    self.close()
-
-
-class FakeSpinner():
-  def __init__(self):
-    pass
-
-  def __enter__(self):
-    return self
-
-  def update(self, _):
-    pass
-
-  def __exit__(self, type, value, traceback):
-    pass
-
-
-if __name__ == "__main__":
-  import time
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5.0)
-  print("gone")
-  time.sleep(5.0)
@@ -11,7 +11,7 @@ class RunningStat():
      self.n = priors[2]
      self.M_last = self.M
      self.S_last = self.S
-
+      
    else:
      self.reset()

@@ -70,4 +70,4 @@ class RunningStatFilter():
      pass
      # self.filtered_stat.push_data(self.filtered_stat.mean())

-# class SequentialBayesian():
+# class SequentialBayesian():
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 import sympy as sp
 import numpy as np

@@ -125,7 +125,7 @@ def img_from_device(pt_device):

 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2  # pylint: disable=import-error
+  import cv2

  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
  if crop:
-    W_border = (size[1] - crop[0])//2
-    H_border = (size[0] - crop[1])//2
+    W_border = (size[1] - crop[0])/2
+    H_border = (size[0] - crop[1])/2
    outside_crop = (((warped_quadrangle[:,0] < W_border) |
                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
                    ((warped_quadrangle[:,1] < H_border) |
@@ -183,8 +183,7 @@ def transform_img(base_img,
                 alpha=1.0,
                 beta=0,
                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
+  import cv2

  if yuv:
    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
@@ -241,7 +240,7 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
  # output_size in camera coordinates so u,v
  # center in array coordinates so row, column
-  import cv2  # pylint: disable=import-error
+  import cv2
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-class LocalCoord():
+class LocalCoord(object):
  """
   Allows conversions to local frames. In this case NED.
   That is: North East Down from the start position in
@@ -29,7 +29,7 @@ def euler2quat(eulers):
       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)

  quats = array([q0, q1, q2, q3]).T
-  for i in range(len(quats)):
+  for i in xrange(len(quats)):
    if quats[i,0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
  K3[:, 3, 2] = K3[:, 2, 3]
  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
  q = np.empty((len(rots), 4))
-  for i in range(len(rots)):
+  for i in xrange(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
    eigvecs = eigvecs[:,3:]
    q[i, 0] = eigvecs[-1]
@@ -1,11 +1,14 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
+#!/usr/bin/env python
+import selfdrive.messaging as messaging
 from selfdrive.boardd.boardd import can_list_to_can_capnp

 VIN_UNKNOWN = "0" * 17

 # sanity checks on response messages from vin query
 def is_vin_response_valid(can_dat, step, cnt):
+
+  can_dat = [ord(i) for i in can_dat]
+
  if len(can_dat) != 8:
    # ISO-TP meesages are all 8 bytes
    return False
@@ -33,18 +36,17 @@ class VinQuery():
    self.bus = bus
    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-    self.query_ext_msgs = [[0x18DB33F1, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
-                           [0x18DA10f1, 0, b'\x30'.ljust(8, b"\x00"), bus]]
-    self.query_nor_msgs = [[0x7df, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
-                           [0x7e0, 0, b'\x30'.ljust(8, b"\x00"), bus]]
+    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]

    self.cnts = [1, 2]  # number of messages to wait for at each iteration
    self.step = 0
    self.cnt = 0
    self.responded = False
    self.never_responded = True
-    self.dat = b""
-    self.got_vin = False
+    self.dat = []
    self.vin = VIN_UNKNOWN

  def check_response(self, msg):
@@ -53,29 +55,25 @@ class VinQuery():
      self.never_responded = False
      # basic sanity checks on ISO-TP response
      if is_vin_response_valid(msg.dat, self.step, self.cnt):
-        self.dat += bytes(msg.dat[2:]) if self.step == 0 else bytes(msg.dat[1:])
+        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
        self.cnt += 1
        if self.cnt == self.cnts[self.step]:
          self.responded = True
          self.step += 1
-    if self.step == len(self.cnts):
-      self.got_vin = True

  def send_query(self, sendcan):
-    # keep sending VIN query if ECU isn't responsing.
+    # keep sending VIN qury if ECU isn't responsing.
    # sendcan is probably not ready due to the zmq slow joiner syndrome
-    if self.never_responded or (self.responded and not self.got_vin):
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
      self.responded = False
      self.cnt = 0

  def get_vin(self):
-    if self.got_vin:
-      try:
-        self.vin = self.dat[3:].decode('utf8')
-      except UnicodeDecodeError:
-        pass  # have seen unexpected non-unicode characters
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = "".join(self.dat[3:])
    return self.vin


@@ -84,13 +82,11 @@ def get_vin(logcan, sendcan, bus, query_time=1.):
  frame = 0

  # 1s max of VIN query time
-  while frame < query_time * 100 and not vin_query.got_vin:
-    a = messaging.get_one_can(logcan)
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)

    for can in a.can:
      vin_query.check_response(can)
-      if vin_query.got_vin:
-        break

    vin_query.send_query(sendcan)
    frame += 1
@@ -99,6 +95,7 @@ def get_vin(logcan, sendcan, bus, query_time=1.):


 if __name__ == "__main__":
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-  print(get_vin(logcan, sendcan, 0))
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print get_vin(logcan, sendcan, 0)
@@ -1,21 +0,0 @@
-The MIT License
-
-Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-
-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.
@@ -1,92 +0,0 @@
-This Font Software is licensed under the SIL Open Font License,
-Version 1.1.
-
-This license is copied below, and is also available with a FAQ at:
-http://scripts.sil.org/OFL
-
-----------------------------------------------------------
-SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
-----------------------------------------------------------
-
-PREAMBLE
-The goals of the Open Font License (OFL) are to stimulate worldwide
-development of collaborative font projects, to support the font
-creation efforts of academic and linguistic communities, and to
-provide a free and open framework in which fonts may be shared and
-improved in partnership with others.
-
-The OFL allows the licensed fonts to be used, studied, modified and
-redistributed freely as long as they are not sold by themselves. The
-fonts, including any derivative works, can be bundled, embedded,
-redistributed and/or sold with any software provided that any reserved
-names are not used by derivative works. The fonts and derivatives,
-however, cannot be released under any other type of license. The
-requirement for fonts to remain under this license does not apply to
-any document created using the fonts or their derivatives.
-
-DEFINITIONS
-"Font Software" refers to the set of files released by the Copyright
-Holder(s) under this license and clearly marked as such. This may
-include source files, build scripts and documentation.
-
-"Reserved Font Name" refers to any names specified as such after the
-copyright statement(s).
-
-"Original Version" refers to the collection of Font Software
-components as distributed by the Copyright Holder(s).
-
-"Modified Version" refers to any derivative made by adding to,
-deleting, or substituting -- in part or in whole -- any of the
-components of the Original Version, by changing formats or by porting
-the Font Software to a new environment.
-
-"Author" refers to any designer, engineer, programmer, technical
-writer or other person who contributed to the Font Software.
-
-PERMISSION & CONDITIONS
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of the Font Software, to use, study, copy, merge, embed,
-modify, redistribute, and sell modified and unmodified copies of the
-Font Software, subject to the following conditions:
-
-1) Neither the Font Software nor any of its individual components, in
-Original or Modified Versions, may be sold by itself.
-
-2) Original or Modified Versions of the Font Software may be bundled,
-redistributed and/or sold with any software, provided that each copy
-contains the above copyright notice and this license. These can be
-included either as stand-alone text files, human-readable headers or
-in the appropriate machine-readable metadata fields within text or
-binary files as long as those fields can be easily viewed by the user.
-
-3) No Modified Version of the Font Software may use the Reserved Font
-Name(s) unless explicit written permission is granted by the
-corresponding Copyright Holder. This restriction only applies to the
-primary font name as presented to the users.
-
-4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
-Software shall not be used to promote, endorse or advertise any
-Modified Version, except to acknowledge the contribution(s) of the
-Copyright Holder(s) and the Author(s) or with their explicit written
-permission.
-
-5) The Font Software, modified or unmodified, in part or in whole,
-must be distributed entirely under this license, and must not be
-distributed under any other license. The requirement for fonts to
-remain under this license does not apply to any document created using
-the Font Software.
-
-TERMINATION
-This license becomes null and void if any of the above conditions are
-not met.
-
-DISCLAIMER
-THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
-OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
-COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
-DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
-OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -334,6 +334,12 @@
    <family>
        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
+    </family>
    <family lang="ja">
        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
    </family>
@@ -346,15 +352,8 @@
    <family>
        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
    </family>
-    <family lang="zh-Hans">
-        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
-        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
-        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
-    </family>
-    <family lang="zh-Hant">
-        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
-        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
-        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    <family>
+        <font weight="400" style="normal">Miui-Regular.ttf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">MTLmr3m.ttf</font>
@@ -1,67 +1,48 @@
 #!/usr/bin/bash

-###############################################################################
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# 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.
-#
-# Noto is a trademark of Google Inc. Noto fonts are open source.
-# All Noto fonts are published under the SIL Open Font License,
-# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
-#
-###############################################################################
-
-
-# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
 lang=en

-update_font=0
+update_font_reg=0
+update_font_bold=0
 remove_old_font=0

 # check regular font
-if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
-    update_font=1
+if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
+    update_font_reg=1
 fi

-# check miui font
-if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
+# check bold font
+if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
+    update_font_bold=1
+fi
+
+# check droidsans font
+if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
    remove_old_font=1
 fi

-if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
-    # sleep 3 secs in case, make sure the /system is re-mountable
+if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is remountable
    sleep 3
    mount -o remount,rw /system
-    if [ $update_font -eq "1" ]; then
-        # install font
-        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
-        # install font mapping
-        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
-        # change permissions
+    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
+        # download regular font
+        if [ $update_font_reg -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
+        fi
+        # download bold font
+        if [ $update_font_bold -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
+        fi
+        # dont new font mapping
+        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
        chmod 644 /system/etc/fonts.xml
-        chmod 644 /system/fonts/NotoSansCJKtc-*
+        chmod 644 /system/fonts/Miui-*
    fi
-    # remove miui font
+    # remove driodsans font
    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/Miui*.ttf
+        rm -fr /system/fonts/DroidSansFallback*.ttf
    fi
    mount -o remount,r /system
    # change system locale
@@ -1,7 +1,7 @@
 {
-  "ota_url": "http://dpp.cool/neosupdate/ota-signed-07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e.zip",
-  "ota_hash": "07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e",
-  "recovery_url": "http://dpp.cool/neosupdate/recovery-3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6.img",
-  "recovery_len": 15848748,
-  "recovery_hash": "3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
+  "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
+  "recovery_len": 15136044,
+  "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
 }
@@ -11,16 +11,19 @@ if [ -z "$PASSIVE" ]; then
 fi

 function launch {
-  # Wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
-  ## apply update
-  #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-  #  git reset --hard @{u} &&
-  #  git clean -xdf &&
-  #
-  #  exec "${BASH_SOURCE[0]}"
-  #fi
+  # apply update
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#    git reset --hard @{u} &&
+#    git clean -xdf &&
+#
+#    # Touch all files on release2 after checkout to prevent rebuild
+#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+#    if [[ "$BRANCH" == "release2" ]]; then
+#        touch **
+#    fi
+#
+#    exec "${BASH_SOURCE[0]}"
+#  fi

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -29,26 +32,8 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

-  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-  # Remove old NEOS update file
-  if [ -d /data/neoupdate ]; then
-    rm -rf /data/neoupdate
-  fi
-
-  # Check for NEOS update
-  if [ $(< /VERSION) != "13" ]; then
-    if [ -f "$DIR/scripts/continue.sh" ]; then
-      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
-    fi
-
-    git clean -xdf
-    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
-  fi
-
-
  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
+  ln -s /data/openpilot /data/pythonpath
  export PYTHONPATH="$PWD"

  # start manager
--- a/Show More
+++ b/Show More